qt.qpa.xcb: could not connect to display
qt.qpa.plugin: Could not load the Qt platform plugin “xcb” in “/opt/Qt/plugins” even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, wayland-egl, wayland, wayland-xcomposite-egl, wayland-xcomposite-glx, webgl, xcb.
Hi @Aya_Elfatyany, Could you please elaborate more about the issue. It will be hard to debug for the error. Thank You.
import numpy as np
import mayavi.mlab as mlab
try:
raw_input # Python 2
except NameError:
raw_input = input # Python 3
def draw_lidar_simple(pc, color=None):
‘’’ Draw lidar points. simplest set up. ‘’’
fig = mlab.figure(figure=None, bgcolor=(0,0,0), fgcolor=None, engine=None, size=(1600, 1000))
if color is None: color = pc[:,2]
#draw points
mlab.points3d(pc[:,0], pc[:,1], pc[:,2], color, color=None, mode=‘point’, colormap = ‘gnuplot’, scale_factor=1, figure=fig)
#draw origin
mlab.points3d(0, 0, 0, color=(1,1,1), mode=‘sphere’, scale_factor=0.2)
#draw axis
axes=np.array([
[2.,0.,0.,0.],
[0.,2.,0.,0.],
[0.,0.,2.,0.],
],dtype=np.float64)
mlab.plot3d([0, axes[0,0]], [0, axes[0,1]], [0, axes[0,2]], color=(1,0,0), tube_radius=None, figure=fig)
mlab.plot3d([0, axes[1,0]], [0, axes[1,1]], [0, axes[1,2]], color=(0,1,0), tube_radius=None, figure=fig)
mlab.plot3d([0, axes[2,0]], [0, axes[2,1]], [0, axes[2,2]], color=(0,0,1), tube_radius=None, figure=fig)
mlab.view(azimuth=180, elevation=70, focalpoint=[ 12.0909996 , -1.04700089, -2.03249991], distance=62.0, figure=fig)
return fig
def draw_lidar(pc, color=None, fig=None, bgcolor=(0,0,0), pts_scale=1, pts_mode=‘point’, pts_color=None):
‘’’ Draw lidar points
Args:
pc: numpy array (n,3) of XYZ
color: numpy array (n) of intensity or whatever
fig: mayavi figure handler, if None create new one otherwise will use it
Returns:
fig: created or used fig
‘’’
if fig is None: fig = mlab.figure(figure=None, bgcolor=bgcolor, fgcolor=None, engine=None, size=(1600, 1000))
if color is None: color = pc[:,2]
mlab.points3d(pc[:,0], pc[:,1], pc[:,2], color, color=pts_color, mode=pts_mode, colormap = ‘gnuplot’, scale_factor=pts_scale, figure=fig)
#draw origin
mlab.points3d(0, 0, 0, color=(1,1,1), mode='sphere', scale_factor=0.2)
#draw axis
axes=np.array([
[2.,0.,0.,0.],
[0.,2.,0.,0.],
[0.,0.,2.,0.],
],dtype=np.float64)
mlab.plot3d([0, axes[0,0]], [0, axes[0,1]], [0, axes[0,2]], color=(1,0,0), tube_radius=None, figure=fig)
mlab.plot3d([0, axes[1,0]], [0, axes[1,1]], [0, axes[1,2]], color=(0,1,0), tube_radius=None, figure=fig)
mlab.plot3d([0, axes[2,0]], [0, axes[2,1]], [0, axes[2,2]], color=(0,0,1), tube_radius=None, figure=fig)
# draw fov (todo: update to real sensor spec.)
fov=np.array([ # 45 degree
[20., 20., 0.,0.],
[20.,-20., 0.,0.],
],dtype=np.float64)
mlab.plot3d([0, fov[0,0]], [0, fov[0,1]], [0, fov[0,2]], color=(1,1,1), tube_radius=None, line_width=1, figure=fig)
mlab.plot3d([0, fov[1,0]], [0, fov[1,1]], [0, fov[1,2]], color=(1,1,1), tube_radius=None, line_width=1, figure=fig)
# draw square region
TOP_Y_MIN=-20
TOP_Y_MAX=20
TOP_X_MIN=0
TOP_X_MAX=40
TOP_Z_MIN=-2.0
TOP_Z_MAX=0.4
x1 = TOP_X_MIN
x2 = TOP_X_MAX
y1 = TOP_Y_MIN
y2 = TOP_Y_MAX
mlab.plot3d([x1, x1], [y1, y2], [0,0], color=(0.5,0.5,0.5), tube_radius=0.1, line_width=1, figure=fig)
mlab.plot3d([x2, x2], [y1, y2], [0,0], color=(0.5,0.5,0.5), tube_radius=0.1, line_width=1, figure=fig)
mlab.plot3d([x1, x2], [y1, y1], [0,0], color=(0.5,0.5,0.5), tube_radius=0.1, line_width=1, figure=fig)
mlab.plot3d([x1, x2], [y2, y2], [0,0], color=(0.5,0.5,0.5), tube_radius=0.1, line_width=1, figure=fig)
#mlab.orientation_axes()
mlab.view(azimuth=180, elevation=70, focalpoint=[ 12.0909996 , -1.04700089, -2.03249991], distance=62.0, figure=fig)
return fig
def draw_gt_boxes3d(gt_boxes3d, fig, color=(1,1,1), line_width=1, draw_text=True, text_scale=(1,1,1), color_list=None):
‘’’ Draw 3D bounding boxes
Args:
gt_boxes3d: numpy array (n,8,3) for XYZs of the box corners
fig: mayavi figure handler
color: RGB value tuple in range (0,1), box line color
line_width: box line width
draw_text: boolean, if true, write box indices beside boxes
text_scale: three number tuple
color_list: a list of RGB tuple, if not None, overwrite color.
Returns:
fig: updated fig
‘’’
num = len(gt_boxes3d)
for n in range(num):
b = gt_boxes3d[n]
if color_list is not None:
color = color_list[n]
if draw_text: mlab.text3d(b[4,0], b[4,1], b[4,2], ‘%d’%n, scale=text_scale, color=color, figure=fig)
for k in range(0,4):
#Plotting functions — mayavi 4.8.2 documentation
i,j=k,(k+1)%4
mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)
i,j=k+4,(k+1)%4 + 4
mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)
i,j=k,k+4
mlab.plot3d([b[i,0], b[j,0]], [b[i,1], b[j,1]], [b[i,2], b[j,2]], color=color, tube_radius=None, line_width=line_width, figure=fig)
#mlab.show(1)
#mlab.view(azimuth=180, elevation=70, focalpoint=[ 12.0909996 , -1.04700089, -2.03249991], distance=62.0, figure=fig)
return fig
if name==‘main’:
pc = np.loadtxt(‘/home/aya/mywork/Frustum-pointnets/frustum-pointnets/mayavi/kitti_sample_scan.txt’)
fig = draw_lidar(pc)
mlab.savefig(‘pc_view.jpg’, figure=fig)
raw_input()
qt.qpa.xcb: could not connect to display
qt.qpa.plugin: Could not load the Qt platform plugin “xcb” in “” even though it was found.
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, wayland-egl, wayland, wayland-xcomposite-egl, wayland-xcomposite-glx, webgl, xcb.
Aborted (core dumped)