sequences of mlab.show() and plt.show()

mlab.show() and plt.show() are used to display lidar point clound and image respectively, I found plt.show() must put in front of mlab.show() for display both at the same time, if I put mlab.show() in front of plt.show(), the display dialogue box generated by mlab.show() must be closed then the plt.show() beings to display its image. what's problem?

OS: ubuntu20.04 conda: 4.13.0


(pt1121_38) hitbuyi@hitbuyi-Dell-G15-5511:~/PycharmProjects$ pip list opencv-python
Package             Version
------------------- ------------
aiohttp             3.8.3
aiosignal           1.2.0
apptools            5.2.0
async-timeout       4.0.2
attrs               22.1.0
certifi             2022.9.24
charset-normalizer  2.1.1
colored             1.4.3
configobj           5.0.6
cycler              0.11.0
envisage            6.1.0
flatbuffers         2.0
fonttools           4.37.4
frozenlist          1.3.1
graphsurgeon        0.4.5
idna                3.4
importlib-resources 5.10.0
kiwisolver          1.4.4
matplotlib          3.5.0
mayavi              4.8.0
multidict           6.0.2
numpy               1.22.3
onnx                1.11.0
onnx-graphsurgeon   0.3.10
onnxruntime         1.11.0
opencv-python       4.1.2.30
packaging           21.3
Pillow              9.2.0
pip                 22.2.2
polygraphy          0.35.2
pyface              7.4.2
Pygments            2.13.0
pyparsing           3.0.9
PyQt5               5.15.7
PyQt5-Qt5           5.15.2
PyQt5-sip           12.11.0
python-dateutil     2.8.2
requests            2.28.1
scipy               1.9.1
setuptools          63.4.1
setuptools-scm      7.0.5
shiboken2           5.15.2.1
six                 1.16.0
tensorrt            8.0.1.6
tomli               2.0.1
torch               1.12.1+cu113
torchaudio          0.12.1
torchvision         0.13.1+cu113
tqdm                4.64.0
traits              6.4.1
traitsui            7.4.1
typing_extensions   4.2.0
urllib3             1.26.12
vtk                 9.1.0
wheel               0.37.1
wslink              1.8.2
yarl                1.8.1
zipp                3.8.1

and the code is

import os
import PyQt5
dirname = os.path.dirname(PyQt5.__file__)
plugin_path = os.path.join(dirname, 'Qt5','plugins', 'platforms')
os.environ['QT_QPA_PLATFORM_PLUGIN_PATH'] = plugin_path

from mayavi import mlab
import matplotlib.pyplot as plt
import cv2
from kitti_object import kitti_object, show_lidar_with_depth, show_lidar_on_image, \
                         show_image_with_boxes, show_lidar_topview_with_boxes

dataset = kitti_object('./data/object', 'training')
data_idx = 2
objects = dataset.get_label_objects(data_idx)
pc_velo = dataset.get_lidar(data_idx)
calib = dataset.get_calibration(data_idx)
img = dataset.get_image(data_idx)
img_height, img_width, _ = img.shape

fig_3d = mlab.figure(
    figure=None, bgcolor=(0, 0, 0), fgcolor=None, engine=None, size=(1000, 500)
)
show_lidar_with_depth(pc_velo, objects, calib, fig_3d, True, img_width, img_height)
mlab.show()

img_lidar = show_lidar_on_image(pc_velo[:, :3], img, calib, img_width, img_height)
img_lidar = cv2.cvtColor(img_lidar, cv2.COLOR_BGR2RGB)

fig_lidar = plt.figure(figsize=(14, 7))
ax_lidar = fig_lidar.subplots()
ax_lidar.imshow(img_lidar)
plt.show()

img_bbox2d, img_bbox3d = show_image_with_boxes(img, objects, calib)
img_bbox2d = cv2.cvtColor(img_bbox2d, cv2.COLOR_BGR2RGB)
fig_bbox2d = plt.figure(figsize=(14, 7))
ax_bbox2d = fig_bbox2d.subplots()
ax_bbox2d.imshow(img_bbox2d)
plt.show()

enthought / mayavi

sequences of mlab.show() and plt.show() #1181