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(

depth/depth_render/hwclient.py

@@ -90,7 +90,7 @@ 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
     print("converting images", len(img_array))
@@ -99,7 +99,7 @@ def convert_array(img_array):
     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):
@@ -114,7 +114,7 @@ def convert_array(img_array):
     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
 
@@ -123,7 +123,7 @@ 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]
@@ -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 = (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/render.cpp

@@ -14,7 +14,7 @@
 
 // Include GLFW
 #include <glfw3.h>
-GLFWwindow* window;
+//GLFWwindow* window;
 
 // Include GLM
 #include <glm/glm.hpp>
@@ -42,8 +42,8 @@ using namespace std;
 
 
 // We would expect width and height to be 1024 and 768
-int windowWidth = 512;
-int windowHeight = 512;
+int windowWidth = 768;
+int windowHeight = 768;
 
 typedef GLXContext (*glXCreateContextAttribsARBProc)(Display*, GLXFBConfig, GLXContext, Bool, const int*);
 typedef Bool (*glXMakeContextCurrentARBProc)(Display*, GLXDrawable, GLXDrawable, GLXContext);
@@ -673,13 +673,18 @@ int main( int argc, char * argv[] )
 
 		glGetTextureImage(renderedTexture, 0, GL_RGB, GL_UNSIGNED_SHORT, nSize*sizeof(unsigned short), dataBuffer);
 
+        unsigned short * dataBuffer_c = (unsigned short * ) malloc(windowWidth*windowHeight * sizeof(unsigned short));
+        for (int i = 0; i < windowWidth * windowHeight; i++) 
+            dataBuffer_c[i] = dataBuffer[3*i];
         
         
-		zmq::message_t reply (nByte);
-        memcpy (reply.data (), (unsigned char*)dataBuffer, nByte);
+
+		zmq::message_t reply (windowWidth*windowHeight*sizeof(unsigned short));
+        memcpy (reply.data (), (unsigned char*)dataBuffer_c, windowWidth*windowHeight*sizeof(unsigned short));
         socket.send (reply);
 
         free(dataBuffer);
+        free(dataBuffer_c);
 
 	} while (true);
 	// Check if the ESC key was pressed or the window was closed

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)