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Fixed rgb display issue

This commit is contained in:
hzyjerry 2017-10-05 11:14:02 -07:00
parent c55974763f
commit 867c4aedc7
2 changed files with 18 additions and 39 deletions
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4
dev/render_cuda_filter.cu
View File

@ -158,9 +158,11 @@ __global__ void render_final(float *points3d_polar, int * depth_render, int * im
int this_depth = (int)(12800/128 * points3d_polar[(ih * w + iw) * 3 + 0]);
int delta = this_depth - depth_render[(ty * w + tx)];
int dr = depth_render[(ty * w + tx)];
//printf("%d %d\n", this_depth, depth_render[(ty * w + tx)]);
if ((y > h/8) && (y < h*7/8))
//if ((y > h/8) && (y < h*7/8))
if ((delta > -10) && (delta < 10) && (this_depth < 10000)) {
//if ((dr <= 12800 * 12800) && dr >= - 12800 * 12800) {
render[(ty * w + tx)] = img[(ih * w + iw)];
}
}

53
dev/show_3d2_f.py
View File

@ -153,6 +153,7 @@ def quat_xyzw_to_wxyz(xyzw):
return np.concatenate((xyzw[-1:], xyzw[:-1]))
## DEPRECATED
## Talking to physics simulation
## New state: [x, y, z, r_w, r_x, r_y, r_z]
def hasNoCollision(posi_xyz, quat_wxyz):
@ -165,13 +166,11 @@ def hasNoCollision(posi_xyz, quat_wxyz):
#print("new_state 1", new_state)
socket_phys.send(" ".join(map(str, new_state)))
collisions_count = int(socket_phys.recv().decode("utf-8"))
print("collisions", collisions_count)
return collisions_count == 0
def getPoseOrientationFromPhysics():
receive = socket_phys.recv().decode("utf-8")
new_pos, new_quat = json.loads(receive)
print("received from physics", new_pos, new_quat)
socket_phys.send(json.dumps({"received": True}))
return new_pos, new_quat
@ -266,7 +265,6 @@ class PCRenderer:
"""
cpose = np.eye(4)
gamma = self.yaw
print("getting yaw", self.yaw)
alpha = self.pitch
beta = -self.roll
#cpose[:3, :3] = transforms3d.euler.euler2mat(alpha, beta, gamma)
@ -279,7 +277,7 @@ class PCRenderer:
def render(self, imgs, depths, pose, model, poses, target_pose, show):
def render(self, imgs, depths, pose, model, poses, target_pose, show, target_depth):
t0 = time.time()
v_cam2world = target_pose.dot(poses[0])
@ -299,33 +297,30 @@ class PCRenderer:
img_array.append(data[i])
img_array2 = [img_array[0], img_array[1], img_array[2], img_array[3], img_array[4], img_array[5]]
#print("max value", np.max(data[0]), "shape", np.array(img_array2).shape)
opengl_arr = convert_array(np.array(img_array2))
opengl_arr = opengl_arr[::, ::]
#print("opengl array shape", opengl_arr.shape)
#plot_histogram(opengl_arr)
#print("zero values", np.sum(opengl_arr[:, :, 0] == 0), np.sum(opengl_arr[:, :, 1] == 0), np.sum(opengl_arr[:, :, 2] == 0))
#print("opengl min", np.min(opengl_arr), "opengl max", np.max(opengl_arr))
opengl_arr_err = opengl_arr == 0
#opengl_arr = np.maximum(opengl_arr + 30, opengl_arr)
opengl_arr_show = (opengl_arr * 3500.0 / 128).astype(np.uint8)
#print('arr shape', opengl_arr_show.shape, "max", np.max(opengl_arr_show), "total number of errors", np.sum(opengl_arr_err))
opengl_arr_show = (opengl_arr * 3500.0 / 128).astype(np.uint8)
opengl_arr_show[opengl_arr_err[:, :, 0], 1:3] = 0
opengl_arr_show[opengl_arr_err[:, :, 0], 0] = 255
cv2.imshow('target depth',opengl_arr_show)
#from IPython import embed; embed()
print(target_depth.shape, opengl_arr.shape)
target_depth[:, :, 0] = (opengl_arr[:,:,0] * 100).astype(np.int32)
#target_depth[:, :, 0] = (opengl_arr[:,:,0] * 100).astype(np.int32)
target_depth[:, :] = (opengl_arr[:,:,0] * 100).astype(np.int32)
print("images type", depths[0].dtype, "opengl type", opengl_arr.dtype)
print("images: min", np.min(depths) * 12800, "mean", np.mean(depths) * 12800, "max", np.max(depths) * 12800)
'''
for i in range(len(imgs)):
imgs[i][depths[i] * 12800 > 100] = 0.0
'''
print('target: min', np.min(target_depth), "mean", np.mean(target_depth), "max", np.max(target_depth))
show[:] = 0
before = time.time()
@ -442,24 +437,9 @@ class PCRenderer:
#new_pos, new_euler = getPoseOrientationFromPhysics()
new_pos, new_quat = getPoseOrientationFromPhysics()
'''
delta = 2
cpose = np.linalg.inv(np.linalg.inv(v_cam2world).dot(world_cpose).dot(self.rotation_const))
viewer_pose = mat_to_posi_xyz(cpose).tolist()
viewer_quat = quat_xyzw_to_wxyz(mat_to_quat_xyzw(cpose)).tolist()
'''
## TODO: this part is hardcoded
self.x, self.y, self.z = new_pos
# rotation around intrinsic x, y, z
#alpha, beta, gamma = new_euler
#print("alpha, beta, gamma", alpha, beta, gamma)
#self.roll, self.pitch, self.yaw = -gamma, alpha, beta
#self.instantCheckPos(viewer_pose, target_pose)
self.quat = new_quat
self.changed = True
if self.changed:
@ -472,12 +452,10 @@ class PCRenderer:
## If PHYSICS_FIRST mode, then collision is already handled
## inside physics simulator
if PHYSICS_FIRST or hasNoCollision(new_posi, new_quat):
print("no collisions")
self.render(imgs, depths, cpose.astype(np.float32), model, poses, target_pose, show)
self.render(imgs, depths, cpose.astype(np.float32), model, poses, target_pose, show, target_depth)
old_state = [self.x, self.y, self.z, self.roll, self.pitch, self.yaw]
old_cpose = np.copy(cpose)
else:
print("has collisions")
self.x, self.y, self.z, self.roll, self.pitch, self.yaw = old_state
cpose = old_cpose
@ -542,7 +520,6 @@ class PCRenderer:
self.changed = True
elif cmd == ord('t'):
pose = poses[0]
print('pose', pose)
RT = pose.reshape((4,4))
R = RT[:3,:3]
T = RT[:3,-1]