def view_show(depth_heightmap,out1,out2,flag,gconf):
pre = Predictor()
while True:
np.clip(depth_heightmap, 0, 0.2,out=depth_heightmap)
depth_heightmap_used=depth_heightmap[range(239,-1,-1),:]
location, angle, PlanningTime, lable, depth,patch=pre.GCNN_LCNN(depth_heightmap_used)
gconf[0]=location[0]
gconf[1]=location[1]
gconf[2]=angle
gconf[3]=depth
get_grasppoint(patch)
#print(gconf)
depth_out = ((depth_heightmap_used+0.04)*1000).astype(np.uint8)
color_1=out1.copy()
index=flag==0
color_1[index]=out2[index]
color_1=color_1[range(239,-1,-1),:]
cv2.line(color_1, (int(location[1]+36*math.cos(angle*math.pi/180.)), int(location[0]+36*math.sin(angle*math.pi/180.))),
(int(location[1] - 36 * math.cos(angle*math.pi/180.)), int(location[0] - 36 * math.sin(angle*math.pi/180.))), (0, 0, 255), 3)
cv2.imshow("color1",color_1)
cv2.imshow("image",depth_out)
graspability=(cv2.pyrUp(cv2.pyrUp(cv2.pyrUp(lable)))*255).astype(np.uint8)
graspability=cv2.applyColorMap(graspability, cv2.COLORMAP_JET)
cv2.imshow("depth",graspability)
key = cv2.waitKey(1)
