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OmniGibson
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Debugging pose integration

This commit is contained in:
hzyjerry 2017-09-21 16:17:44 -07:00
parent 223080dadb
commit edde463e21
3 changed files with 21 additions and 32 deletions
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2
Dockerfile
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@ -70,7 +70,7 @@ WORKDIR /usr/local/realenv/
RUN ["chmod", "+x", "/usr/local/realenv/init.sh"]
#ENTRYPOINT ["/usr/local/realenv/init.sh"]
#ENTRYPOINT [ "/usr/local/realenv/init.sh" ]
#ENTRYPOINT [ "/bin/bash", "-c" ]
#CMD ["x11vnc", "-forever", "-usepw", "-create"]

6
depth/depth_render/render.cpp
View File

@ -531,7 +531,7 @@ int main( int argc, char * argv[] )
// Wait for next request from client
socket.recv (&request);
std::cout << "Received Hello " << request.data() << std::endl;
std::cout << "Received data " << request.data() << std::endl;
//printf("%s\n", request.data());
@ -541,7 +541,7 @@ int main( int argc, char * argv[] )
//std::cout << request_str << std::endl;
glm::mat4 viewMat = str_to_mat(request_str);
debug_mat(viewMat, "json");
debug_mat(viewMat, "receive");
// Measure speed
//double currentTime = glfwGetTime();
@ -589,7 +589,7 @@ int main( int argc, char * argv[] )
// Compute the MVP matrix from keyboard and mouse input
//computeMatricesFromInputs();
computeMatricesFromFile(name_loc);
//computeMatricesFromFile(name_loc);
float fov = glm::radians(90.0f);
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, k);

45
dev/show_3d2_f.py
View File

@ -156,20 +156,14 @@ def showpoints(imgs, depths, poses, model, target, tdepth, target_pose):
t0 = time.time()
v_cam2world = np.linalg.inv(poses[0]).dot(target_pose)
p = pose.dot(v_cam2world)
trans = -np.dot(p[:3, :3].T, p[:3, -1])
rot = np.dot(np.array([[-1,0,0],[0,-1,0],[0,0,1]]), np.linalg.inv(p[:3, :3]))
p2 = np.eye(4)
p2[:3, :3] = rot
p2[:3, -1] = trans
p = v_cam2world.dot(pose)
print("Sending request ...")
#print(v_cam2world)
print('current viewer pose', pose)
#print('current viewer pose', pose)
print("current camera matrix", p)
print("camera pose", p)
print("target pose", target_pose)
#s = mat_to_str(p2)
@ -178,15 +172,6 @@ def showpoints(imgs, depths, poses, model, target, tdepth, target_pose):
'''
p = pose.dot(np.linalg.inv(poses[0])) #.dot(target_pose)
trans = -pose[:3, -1]
rot = np.linalg.inv(pose[:3, :3])
p2 = np.eye(4)
p2[:3, :3] = rot
p2[:3, -1] = trans
s = mat_to_str(poses[0] * p2)
'''
@ -234,9 +219,9 @@ def showpoints(imgs, depths, poses, model, target, tdepth, target_pose):
#print(poses[0])
pose_after = pose.dot(np.linalg.inv(poses[0])).dot(poses[i]).astype(np.float32)
if i == 0:
print('First pose after')
print(pose_after)
#if i == 0:
#print('First pose after')
#print(pose_after)
#from IPython import embed; embed()
#print('Received pose ' + str(i))
#print(pose_after)
@ -308,7 +293,7 @@ def showpoints(imgs, depths, poses, model, target, tdepth, target_pose):
cpose2 = np.eye(4)
cpose2[0,3] = x
cpose2[1,3] = y
cpose2[1,3] = -y
cpose2[2,3] = z
cpose = np.dot(cpose, cpose2)
@ -336,23 +321,27 @@ def showpoints(imgs, depths, poses, model, target, tdepth, target_pose):
if cmd==ord('q'):
break
## z > 0: moves outward from screen
## z < 0: moves inward to screen
## y > 0: moves downward
## y < 0: moves upward
elif cmd == ord('w'):
x -= 0.05
z += 0.05
changed = True
elif cmd == ord('s'):
x += 0.05
z -= 0.05
changed = True
elif cmd == ord('a'):
y += 0.05
x -= 0.05
changed = True
elif cmd == ord('d'):
y -= 0.05
x += 0.05
changed = True
elif cmd == ord('z'):
z += 0.01
y += 0.03
changed = True
elif cmd == ord('x'):
z -= 0.01
y -= 0.03
changed = True
elif cmd == ord('r'):