size + speed up request

depth/common/controls.cpp

@@ -130,8 +130,8 @@ bool computeMatricesFromInputs(){
 	//glfwSetCursorPos(window, 512/2, 512/2);
 
 	// Compute new orientation
-	horizontalAngle += mouseSpeed * float( 512/2 - xpos );
-	verticalAngle   += mouseSpeed * float( 512/2 - ypos );
+	horizontalAngle += mouseSpeed * float( 768/2 - xpos );
+	verticalAngle   += mouseSpeed * float( 768/2 - ypos );
 
 	// Direction : Spherical coordinates to Cartesian coordinates conversion
 	glm::vec3 direction(
@@ -284,7 +284,7 @@ bool computeMatricesFromFile(std::string filename){
 	char namebuf[50];
 
 	int count = fscanf(file, "%s %f %f %f %f %f %f %f %f %f\n", namebuf, &posX, &posY, &posZ, &rotW, &rotY, &rotX, &rotZ, &junk[0], &junk[1] );
-	
+
 	printf("Loading pose file count: %d, namebuf: %s, rot count %d\n", count, namebuf, currentPoseRotCount);
 
 	assert(count == 10);

depth/depth_render/hwclient.py

@@ -25,16 +25,16 @@ blender_path = "./point_29b9558f6a244ca493d2bf52709684e2_view_equirectangular_do
 
 def transfer(in_img, coords, h, w):
     out_img = np.zeros((h,w,3)).astype(np.uint16)
-    
+
     for ycoord in range(0, h):
         for xcoord in range(0, w):
-            ind, corrx, corry = coords[ycoord, xcoord, :]   
+            ind, corrx, corry = coords[ycoord, xcoord, :]
             out_img[ycoord, xcoord, :] =  in_img[ind, corrx, corry, :]
     return out_img
-    
+
 def convert_img():
     inimg = InImg()
-    
+
     wo, ho = inimg.grid * 4, inimg.grid * 3
 
     # Calculate height and width of output image, and size of each square face
@@ -51,22 +51,22 @@ def convert_img():
         np.array(Image.open("3.tiff")),
         np.array(Image.open("4.tiff")),
         np.array(Image.open("5.tiff"))]).astype(np.uint8)
-        
+
     print("Received image array", len(in_imgs))
 
     if not os.path.isfile('coord.npy'):
         coords = np.zeros((h,w,3)).astype(np.int32)
-        
+
         for ycoord in range(0, h):
             for xcoord in range(0, w):
                 corrx, corry = find_corresponding_pixel(xcoord, ycoord, w, h, n)
                 coords[ycoord, xcoord, :] = inimg.getpixel((corrx, corry))
-        
+
         np.save('coord.npy', coords)
     else:
         coords = np.load('coord.npy')
-    
-    
+
+
     # For each pixel in output image find colour value from input image
     print(outimg.shape)
 
@@ -81,7 +81,7 @@ def convert_img():
 
 def convert_array(img_array):
     inimg = InImg()
-    
+
     wo, ho = inimg.grid * 4, inimg.grid * 3
 
     # Calculate height and width of output image, and size of each square face
@@ -90,32 +90,32 @@ def convert_array(img_array):
     n = ho/3
 
     # Create new image with width w, and height h
-    outimg = np.zeros((h,w,3)) #.astype(np.uint8)
+    outimg = np.zeros((h,w,1)) #.astype(np.uint8)
 
-    in_imgs = None 
+    in_imgs = None
     print("converting images", len(img_array))
 
     print("Passed in image array", len(img_array), np.max(img_array[0]))
     in_imgs = img_array
 
     if not os.path.isfile('coord.npy'):
-        coords = np.zeros((h,w,3)).astype(np.int32)
-        
+        coords = np.zeros((h,w,1)).astype(np.int32)
+
         for ycoord in range(0, h):
             for xcoord in range(0, w):
                 corrx, corry = find_corresponding_pixel(xcoord, ycoord, w, h, n)
                 coords[ycoord, xcoord, :] = inimg.getpixel((corrx, corry))
-        
+
         np.save('coord.npy', coords)
     else:
         coords = np.load('coord.npy')
-    
+
     # For each pixel in output image find colour value from input image
     print(outimg.shape)
 
     # todo: for some reason the image is flipped 180 degrees
-    outimg = transfer(in_imgs, coords, h, w)[::-1, ::-1, ::]
-    
+    outimg = transfer2(in_imgs, coords, h, w)[::-1, :, ::]
+
     return outimg
 
 
@@ -123,11 +123,11 @@ def convert_array(img_array):
 
 class InImg(object):
     def __init__(self):
-        self.grid = 512
+        self.grid = 768
 
     def getpixel(self, key):
         corrx, corry = key[0], key[1]
-        
+
         indx = int(corrx / self.grid)
         indy = int(corry / self.grid)
 
@@ -179,29 +179,37 @@ if __name__ == '__main__':
 
     img_array = []
 
-    #  Do 10 requests, waiting each time for a response
-    for request in range(10):
+    #  Do 6 requests, waiting each time for a response
+    for request in range(6):
         print("Sending request %s ..." % request)
         socket.send(b"Hello")
 
         #  Get the reply.
         message = socket.recv()
-        data = np.array(np.frombuffer(message, dtype=np.uint16)).reshape((512, 512, 3))
-
+        data = np.array(np.frombuffer(message, dtype=np.uint16)).reshape((768, 768, 1))
+        data = data[::-1,::-1,:]
         img_array.append(data)
 
-        #data = np.log(data / 256 * (256/np.log(256))).astype(np.uint8) 
-        #data = (data % 256).astype(np.uint8) 
+        
+        
+        
+        
+        #data = np.log(data / 256 * (256/np.log(256))).astype(np.uint8)
+        #data = (data % 256).astype(np.uint8)
         #data = (data / 256.0).astype(np.uint8) * 12
         print(np.max(data), np.min(data))
 
         # todo: debug
-        data = data[:][::-1][:]
+        
         #img = Image.fromarray(data)
         #img.save(img_path + str(request) + ".tiff")
         #scipy.misc.imsave(img_path + str(request) + ".png", data, 'L', bits=16)
         #print("Received reply %s [ %s ]" % (request, data))
 
+    img_array2 = [img_array[0], img_array[3], img_array[2], img_array[1], img_array[4], img_array[5]]
     print("max value", np.max(data[0]))
-    opengl_arr = convert_array(np.array(img_array))
-    plot_histogram(opengl_arr)
+    opengl_arr = convert_array(np.array(img_array2))
+    #plot_histogram(opengl_arr)
+    opengl_arr = (opengl_arr / 10).astype(np.uint8)
+    outimg = Image.fromarray(opengl_arr)
+    outimg.save('output', 'PNG')

depth/depth_render/transfer.pyx

@@ -1,8 +1,8 @@
 import numpy as np
 
-def transfer2(unsigned char [:,:,:,:] in_img, int [:,:,:]coords, int h, int w):
+def transfer2(unsigned short [:,:,:,:] in_img, int [:,:,:]coords, int h, int w):
     
-    cdef unsigned char [:,:,:] out_img = np.zeros((h,w,3)).astype(np.uint8)
+    cdef unsigned short [:,:,:] out_img = np.zeros((h,w,3)).astype(np.uint16)
     
     cdef int xcoord, ycoord
     cdef int ind, corrx, corry
@@ -14,6 +14,6 @@ def transfer2(unsigned char [:,:,:,:] in_img, int [:,:,:]coords, int h, int w):
             ind = coords[ycoord, xcoord, 0]   
             corrx = coords[ycoord, xcoord, 1]
             corry = coords[ycoord, xcoord, 2]  
-            for c in range(3):
+            for c in range(1):
                 out_img[ycoord, xcoord, c] =  in_img[ind, corry, corrx, c]
-    return np.array(out_img)
+    return np.array(out_img)