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OmniGibson
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Merged with python3 update. Not yet tested extensively in python3

This commit is contained in:
hzyjerry 2017-10-26 09:05:11 -07:00
parent 949c4c086b 7119adcb4f
commit a76764e24b
5 changed files with 67 additions and 54 deletions
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80
realenv/core/channels/depth_render/render.cpp
View File

@ -71,7 +71,7 @@ static glXMakeContextCurrentARBProc glXMakeContextCurrentARB = NULL;
#define checkCudaErrors(ans) { gpuAssert((ans), __FILE__, __LINE__); }
inline void gpuAssert(cudaError_t code, const char *file, int line, bool abort=true)
{
if (code != cudaSuccess)
if (code != cudaSuccess)
{
fprintf(stderr,"GPUassert: %s %s %d\n", cudaGetErrorString(code), file, line);
if (abort) exit(code);
@ -214,7 +214,7 @@ std::vector<size_t> str_to_vec(std::string str) {
str.erase(0, pos + delimiter.length());
idx += 1;
}
longs.push_back(std::stoul(str));
longs.push_back(std::stoul(str));
return longs;
}
@ -462,7 +462,7 @@ int main( int argc, char * argv[] )
// The texture we're going to render to
GLuint renderedTexture;
glGenTextures(1, &renderedTexture);
// "Bind" the newly created texture : all future texture functions will modify this texture
@ -547,38 +547,40 @@ int main( int argc, char * argv[] )
socket.bind ("tcp://127.0.0.1:5555");
cudaGetDevice( &cudaDevice );
//int g_cuda_device = 0;
cudaSetDevice(cudaDevice);
cudaSetDevice(cudaDevice);
cudaGLSetGLDevice(cudaDevice);
cudaGraphicsResource* resource;
cudaGraphicsResource* resource;
checkCudaErrors(cudaGraphicsGLRegisterImage(&resource, renderedTexture, GL_TEXTURE_2D, cudaGraphicsRegisterFlagsNone));
std::cout << "CUDA DEVICE:" << cudaDevice << std::endl;
int pose_idx = 0;
zmq::message_t request;
socket.recv (&request);
//socket.recv (&request);
// std::string request_str = std::string(static_cast<char*>(request.data()), request.size());
// std::vector<size_t> new_idxs = str_to_vec(request_str);
size_t img_size = request.size();
typedef boost::multi_array<uint, 3> array_type;
const int ndims=3;
boost::multi_array<uint, 3> reordering{boost::extents[img_size / sizeof(uint)][1][1]};
// boost::array<array_type::size_type,ndims> orig_dims = {{img_size / sizeof(uint),1,1}};
boost::array<array_type::index,ndims> dims = {{1024, 2048, 3}};
//size_t img_size = request.size();
//size_t img_size = 1024 * 2048 * 3;
//typedef boost::multi_array<uint, 3> array_type;
//const int ndims=3;
//boost::multi_array<uint, 3> reordering{boost::extents[img_size / sizeof(uint)][1][1]};
// boost::array<array_type::size_type,ndims> orig_dims = {{img_size / sizeof(uint),1,1}};
//boost::array<array_type::index,ndims> dims = {{1024, 2048, 3}};
// multi_array reordering(orig_dims);
for (int i = 0; i < (img_size / sizeof(uint)) ; i++) {
reordering[i][0][0] = ((uint*)request.data())[i];
}
reordering.reshape(dims);
//for (int i = 0; i < (img_size / sizeof(uint)) ; i++) {
//reordering[i][0][0] = ((uint*)request.data())[i];
// reordering[i][0][0] = 0;
//}
//reordering.reshape(dims);
std::vector<uint> cubeMapCoordToPanoCoord;
for(size_t ycoord = 0; ycoord < panoHeight; ycoord++){
for(size_t xcoord = 0; xcoord < panoWidth; xcoord++){
size_t ind = reordering[ycoord][xcoord][0];
size_t corrx = reordering[ycoord][xcoord][1];
size_t corry = reordering[ycoord][xcoord][2];
size_t ind = 0;//reordering[ycoord][xcoord][0];
size_t corrx = 0;//reordering[ycoord][xcoord][1];
size_t corry = 0;//reordering[ycoord][xcoord][2];
cubeMapCoordToPanoCoord.push_back(
ind * windowWidth * windowHeight +
@ -588,9 +590,9 @@ int main( int argc, char * argv[] )
}
uint *d_cubeMapCoordToPanoCoord = copyToGPU(&(cubeMapCoordToPanoCoord[0]), cubeMapCoordToPanoCoord.size());
zmq::message_t reply0 (sizeof(float));
socket.send(reply0);
//zmq::message_t reply0 (sizeof(float));
//socket.send(reply0);
float *cubeMapGpuBuffer = allocateBufferOnGPU(windowHeight * windowWidth * 6);
cudaMemset(cubeMapGpuBuffer, 0, windowHeight * windowWidth * 6 * sizeof(float));
@ -602,7 +604,7 @@ int main( int argc, char * argv[] )
// Wait for next request from client
socket.recv (&request);
boost::timer t;
std::string request_str = std::string(static_cast<char*>(request.data()), request.size());
glm::mat4 viewMat = str_to_mat(request_str);
@ -636,11 +638,11 @@ int main( int argc, char * argv[] )
//if (!dataBuffer_c) return false;
bool pano = False;
if (pano)
{
for (int k = 0; k < 6; k ++ )
{
// Render to our framebuffer
@ -814,7 +816,7 @@ int main( int argc, char * argv[] )
//glGetTextureImage(renderedTexture, 0, GL_RGB, GL_UNSIGNED_SHORT, nSize*sizeof(unsigned short), dataBuffer);
// float* loc = dataBuffer + windowWidth*windowHeight * k;
// glGetTextureImage(renderedTexture, 0, GL_BLUE, GL_FLOAT,
// glGetTextureImage(renderedTexture, 0, GL_BLUE, GL_FLOAT,
// (nSize/3)*sizeof(float), loc);
// Map the OpenGL texture buffer to CUDA memory space
@ -831,7 +833,7 @@ int main( int argc, char * argv[] )
}
checkCudaErrors(cudaStreamSynchronize(0));
zmq::message_t reply (panoWidth*panoHeight*sizeof(float));
zmq::message_t reply (panoWidth*panoHeight*sizeof(float));
projectCubeMapToEquirectangular((float*)reply.data(), cubeMapGpuBuffer, d_cubeMapCoordToPanoCoord, cubeMapCoordToPanoCoord.size(), (size_t) nSize/3);
std::cout << "Render time: " << t.elapsed() << std::endl;
@ -842,7 +844,7 @@ int main( int argc, char * argv[] )
}
else {
//Pinhole mode
// Render to our framebuffer
// Clear the screen
@ -858,7 +860,7 @@ int main( int argc, char * argv[] )
glm::mat4 ProjectionMatrix = glm::perspective(fov, 1.0f, 0.1f, 5000.0f); // near & far are not verified, but accuracy seems to work well
glm::mat4 ViewMatrix = getView(viewMat, 2);
glm::mat4 viewMatPose = glm::inverse(ViewMatrix);
glm::mat4 ModelMatrix = glm::mat4(1.0);
glm::mat4 MVP = ProjectionMatrix * ViewMatrix * ModelMatrix;
@ -928,16 +930,16 @@ int main( int argc, char * argv[] )
glDisableVertexAttribArray(0);
glDisableVertexAttribArray(1);
glDisableVertexAttribArray(2);
zmq::message_t reply (windowWidth*windowHeight*sizeof(float));
float * reply_data_handle = (float*)reply.data();
glGetTextureImage(renderedTexture, 0, GL_BLUE, GL_FLOAT, windowWidth * windowHeight *sizeof(float), reply_data_handle);
std::cout << "Render time: " << t.elapsed() << std::endl;
float tmp;
for (int i = 0; i < windowHeight/2; i++)
for (int j = 0; j < windowWidth; j++) {
tmp = reply_data_handle[i * windowWidth + j];
@ -948,7 +950,7 @@ int main( int argc, char * argv[] )
//free(dataBuffer);
//free(dataBuffer_c);
}

26
realenv/core/render/show_3d2.py
View File

@ -80,7 +80,7 @@ class PCRenderer:
self.k = 5
self.showsz = 512
#self.show = np.zeros((self.showsz,self.showsz * 2,3),dtype='uint8')
#self.show_rgb = np.zeros((self.showsz,self.showsz * 2,3),dtype='uint8')
@ -214,16 +214,16 @@ class PCRenderer:
s = utils.mat_to_str(p)
#with Profiler("Depth request round-trip"):
socket_mist.send(s)
socket_mist.send_string(s)
message = socket_mist.recv()
#with Profiler("Read from framebuffer and make pano"):
wo, ho = self.showsz * 4, self.showsz * 3
# Calculate height and width of output image, and size of each square face
h = wo/3
h = wo//3
w = 2*h
n = ho/3
n = ho//3
pano = False
@ -254,11 +254,13 @@ class PCRenderer:
opengl_arr.ctypes.data_as(ct.c_void_p)
)
threads = [
Process(target=_render_pc, args=(opengl_arr,)),
Process(target=_render_depth, args=(opengl_arr,))]
[t.start() for t in threads]
[t.join() for t in threads]
#threads = [
# Process(target=_render_pc, args=(opengl_arr,)),
# Process(target=_render_depth, args=(opengl_arr,))]
#[t.start() for t in threads]
#[t.join() for t in threads]
_render_pc(opengl_arr)
_render_depth(opengl_arr)
if self.compare_filler:
show_unfilled[:, :, :] = show[:, :, :]
@ -349,7 +351,7 @@ class PCRenderer:
cv2.setMouseCallback('show3d',self._onmouse)
if self.compare_filler:
cv2.namedWindow('show3d unfilled')
def renderToScreen(self, pose, k_views=None):
t0 = time.time()
@ -370,11 +372,13 @@ class PCRenderer:
@staticmethod
def sync_coords():
"""
with Profiler("Transform coords"):
new_coords = np.getbuffer(coords.flatten().astype(np.uint32))
socket_mist.send(new_coords)
message = socket_mist.recv()
"""
pass
def show_target(target_img):

1
realenv/envs/env_bases.py
View File

@ -62,6 +62,7 @@ class MJCFBaseEnv(gym.Env):
else:
self.physicsClientId = p.connect(p.DIRECT)
p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
p.configureDebugVisualizer(p.COV_ENABLE_KEYBOARD_SHORTCUTS, 0)
if self.scene is None:
self.scene = self.create_single_player_scene()

2
realenv/envs/env_modalities.py
View File

@ -19,7 +19,7 @@ import cv2
DEFAULT_TIMESTEP = 1.0/(4 * 9)
DEFAULT_FRAMESKIP = 5
DEFAULT_FRAMESKIP = 4
class SensorRobotEnv(MJCFBaseEnv):

12
realenv/envs/humanoid_env.py
View File

@ -2,6 +2,9 @@ from realenv.envs.env_modalities import CameraRobotEnv, SensorRobotEnv
from realenv.core.physics.robot_locomotors import Humanoid, Ant, Husky
import gym
HUMANOID_TIMESTEP = 1.0/(4 * 22)
HUMANOID_FRAMESKIP = 4
class HumanoidEnv(gym.Env):
metadata = {
'render.modes' : ['human', 'rgb_array'],
@ -16,11 +19,14 @@ class HumanoidEnv(gym.Env):
class HumanoidCameraEnv(HumanoidEnv, CameraRobotEnv):
def __init__(self, human=True, enable_sensors=False):
def __init__(self, human=True, timestep=HUMANOID_TIMESTEP,
frame_skip=HUMANOID_FRAMESKIP, enable_sensors=False):
HumanoidEnv.__init__(self)
CameraRobotEnv.__init__(self, human, enable_sensors=enable_sensors)
CameraRobotEnv.__init__(self, human, timestep=timestep,
frame_skip=frame_skip, enable_sensors=enable_sensors)
class HumanoidSensorEnv(HumanoidEnv, SensorRobotEnv):
def __init__(self, human=True):
def __init__(self, human=True, timestep=HUMANOID_TIMESTEP,
frame_skip=HUMANOID_FRAMESKIP, enable_sensors=False):
HumanoidEnv.__init__(self)
SensorRobotEnv.__init__(self, human)