Better window layout
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hzyjerry
parent
a76764e24b
commit
13b2b0b65b
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@ -16,7 +16,7 @@ from torchvision import datasets, transforms
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from torch.autograd import Variable
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from numpy import cos, sin
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from realenv.core.render.profiler import Profiler
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from multiprocessing.dummy import Process
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from multiprocessing import Process
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from realenv.data.datasets import ViewDataSet3D
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from realenv.core.render.completion import CompletionNet
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@ -31,6 +31,11 @@ context_mist = zmq.Context()
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socket_mist = context_mist.socket(zmq.REQ)
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socket_mist.connect("tcp://localhost:5555")
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LINUX_OFFSET = {
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"x_delta": 10,
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"y_delta": 100
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}
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class InImg(object):
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def __init__(self):
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@ -54,7 +59,7 @@ class InImg(object):
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class PCRenderer:
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ROTATION_CONST = np.array([[0,1,0,0],[0,0,1,0],[-1,0,0,0],[0,0,0,1]])
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def __init__(self, port, imgs, depths, target, target_poses, scale_up):
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def __init__(self, port, imgs, depths, target, target_poses, scale_up, human=True):
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self.roll, self.pitch, self.yaw = 0, 0, 0
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self.quat = [1, 0, 0, 0]
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self.x, self.y, self.z = 0, 0, 0
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@ -105,6 +110,20 @@ class PCRenderer:
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self.maskv = Variable(torch.zeros(1,2, self.showsz, self.showsz), volatile = True).cuda()
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self.mean = torch.from_numpy(np.array([0.57441127, 0.54226291, 0.50356019]).astype(np.float32))
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if human:
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self.renderToScreenSetup()
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def renderToScreenSetup(self):
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cv2.namedWindow('show3d')
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cv2.namedWindow('target depth')
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cv2.moveWindow('show3d', -30 , self.showsz + LINUX_OFFSET['y_delta'])
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cv2.moveWindow('target depth', self.showsz + LINUX_OFFSET['x_delta'] + LINUX_OFFSET['y_delta'], self.showsz + LINUX_OFFSET['y_delta'])
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cv2.imshow('show3d', self.show_rgb)
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cv2.imshow('target depth', self.show_rgb)
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cv2.setMouseCallback('show3d',self._onmouse)
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if self.compare_filler:
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cv2.namedWindow('show3d unfilled')
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def _onmouse(self, *args):
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if args[0] == cv2.EVENT_LBUTTONDOWN:
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@ -232,10 +251,6 @@ class PCRenderer:
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else:
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opengl_arr = np.frombuffer(message, dtype=np.float32).reshape((n, n))
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def _render_depth(opengl_arr):
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#with Profiler("Render Depth"):
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cv2.imshow('target depth', opengl_arr/16.)
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def _render_pc(opengl_arr):
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with Profiler("Render pointcloud cuda"):
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poses_after = [
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@ -260,7 +275,6 @@ class PCRenderer:
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#[t.start() for t in threads]
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#[t.join() for t in threads]
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_render_pc(opengl_arr)
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_render_depth(opengl_arr)
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if self.compare_filler:
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show_unfilled[:, :, :] = show[:, :, :]
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@ -285,6 +299,10 @@ class PCRenderer:
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show[:] = (show2[:] * 255).astype(np.uint8)
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print('Transfer to CPU time:', time.time() - before)
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self.target_depth = opengl_arr ## target depth
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def renderOffScreenInitialPose(self):
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## TODO (hzyjerry): error handling
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@ -343,15 +361,6 @@ class PCRenderer:
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#return self.show_rgb
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def renderToScreenSetup(self):
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cv2.namedWindow('show3d')
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cv2.namedWindow('target depth')
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cv2.moveWindow('show3d',1140,0)
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cv2.moveWindow('target depth', 1140, 2048)
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cv2.setMouseCallback('show3d',self._onmouse)
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if self.compare_filler:
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cv2.namedWindow('show3d unfilled')
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def renderToScreen(self, pose, k_views=None):
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t0 = time.time()
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@ -362,10 +371,34 @@ class PCRenderer:
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cv2.putText(self.show_rgb,'pitch %.3f yaw %.2f roll %.3f x %.2f y %.2f z %.2f'%(self.pitch, self.yaw, self.roll, self.x, self.y, self.z),(15,self.showsz-15),0,0.5,(255,255,255))
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cv2.putText(self.show_rgb,'fps %.1f'%(self.fps),(15,15),0,0.5,(255,255,255))
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cv2.imshow('show3d',self.show_rgb)
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if self.compare_filler:
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cv2.imshow('show3d unfilled', self.show_unfilled_rgb)
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def _render_depth(depth):
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#with Profiler("Render Depth"):
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cv2.imshow('target depth', depth/16.)
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def _render_rgb(rgb):
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cv2.imshow('show3d',rgb)
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cv2.moveWindow('show3d', -1 , self.showsz + LINUX_OFFSET['y_delta'])
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def _render_rgb_unfilled(unfilled_rgb):
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cv2.imshow('show3d unfilled', show_unfilled_rgb)
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cv2.moveWindow('target depth', self.showsz + LINUX_OFFSET['x_delta'] + LINUX_OFFSET['y_delta'], self.showsz + LINUX_OFFSET['y_delta'])
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"""
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render_threads = [
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Process(target=_render_depth, args=(self.target_depth, )),
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Process(target=_render_rgb, args=(self.show_rgb, ))]
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if self.compare_filler:
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render_threads.append(Process(target=_render_rgb_unfilled, args=(self.show_unfilled_rgb, )))
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[wt.start() for wt in render_threads]
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[wt.join() for wt in render_threads]
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"""
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_render_depth(self.target_depth)
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_render_rgb(self.show_rgb)
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if self.compare_filler:
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_render_rgb_unfilled(self.show_unfilled_rgb)
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#cv2.imshow('show3d unfilled', self.show_unfilled_rgb)
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## TODO (hzyjerry): does this introduce extra time delay?
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cv2.waitKey(1)
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return self.show_rgb
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@ -59,6 +59,7 @@ class MJCFBaseEnv(gym.Env):
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if (self.physicsClientId < 0):
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if (self.isRender):
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self.physicsClientId = p.connect(p.GUI)
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self.set_window(-1, -1, 1024, 512)
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else:
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self.physicsClientId = p.connect(p.DIRECT)
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p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
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@ -119,6 +120,18 @@ class MJCFBaseEnv(gym.Env):
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if (self.physicsClientId>=0):
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p.disconnect(self.physicsClientId)
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self.physicsClientId = -1
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def set_window(self, posX, posY, sizeX, sizeY):
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values = {
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'gravity': 0,
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'posX': int(posX),
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'posY': int(posY),
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'sizeX': int(sizeX),
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'sizeY': int(sizeY)
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}
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#os.system('wmctrl -r :ACTIVE: -e {},{},{},{},{}'.format(0, posX, posY, sizeX, sizeY))
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cmd = 'wmctrl -r :ACTIVE: -e {gravity},{posX},{posY},{sizeX},{sizeY}'.format(**values)
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os.system(cmd)
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def HUD(self, state, a, done):
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pass
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@ -196,6 +196,16 @@ class SensorRobotEnv(MJCFBaseEnv):
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def getExtendedObservation(self):
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pass
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def renderToScreenSetup(self):
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cv2.namedWindow('show3d')
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cv2.namedWindow('target depth')
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cv2.moveWindow('show3d',1140,0)
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cv2.moveWindow('target depth', 1140, 2048)
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cv2.setMouseCallback('show3d',self._onmouse)
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if self.compare_filler:
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cv2.namedWindow('show3d unfilled')
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class CameraRobotEnv(SensorRobotEnv):
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@ -209,9 +219,11 @@ class CameraRobotEnv(SensorRobotEnv):
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SensorRobotEnv._reset(self)
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if not self.r_camera_rgb or not self.r_camera_mul:
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self.check_port_available()
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#PCRenderer.renderToScreenSetup()
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self.setup_camera_multi()
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self.setup_camera_rgb()
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def _step(self, a):
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sensor_state, sensor_reward, done, sensor_meta = SensorRobotEnv._step(self, a)
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pose = [sensor_meta['eye_pos'], sensor_meta['eye_quat']]
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@ -279,7 +291,7 @@ class CameraRobotEnv(SensorRobotEnv):
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## TODO (hzyjerry): make sure 5555&5556 are not occupied, or use configurable ports
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PCRenderer.sync_coords()
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renderer = PCRenderer(5556, sources, source_depths, target, rts, self.scale_up)
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renderer = PCRenderer(5556, sources, source_depths, target, rts, self.scale_up, human=self.isRender)
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self.r_camera_rgb = renderer
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