def start(screen):
"""Fonction s'occupant rapidement de la boucle de jeu"""
state = ["read_scene", 'super_choice', '']
in_game = True
while in_game:
if state[0] == "quit":
in_game = False
elif state[0] == "main_menu":
menu = MainMenu.MainMenu(screen)
state = menu.start()
elif state[0] == "read_scene":
json_scene = utils.load_scene(state[1])
menu = None
if json_scene["type"] == "choice":
menu = ReadChoice(screen, state[1], state[2])
else:
menu = ReadScene(screen, state[1], state[2])
state = menu.start()
max_err = 0.0035
elif 'm4' in args.config:
max_err = 0.005
elif 'm3' in args.config:
max_err = 0.0035
else:
raise ValueError()
config = json.load(open(args.config))
rospy.init_node('servo')
r_b = Robot.from_ip('192.168.1.129')
r_c = Robot.from_ip('192.168.1.131')
scene, state = utils.load_scene()
# cam safe q
r_c.ctrl.moveJ([
2.2288451194763184, -1.490114526157715, 1.5134428183185022,
-0.8572123807719727, -1.3860304991351526, -0.5580604712115687
])
for q, r in zip(config['robots_q_init'], [r_b, r_c]):
r.ctrl.moveJ(q)
r_b.zero_ft_sensor()
base_t_tcp_b_init = r_b.base_t_tcp()
for _ in range(args.n):
if rospy.is_shutdown():
break
def my_app(cfg):
thread_pool = multiprocessing.pool.ThreadPool()
log.info(f'{cfg}')
log.info(f'Working directory : {os.getcwd()}')
if cfg.unet.ssp == 'tailored':
size_stride_pad = [[[4, 4], [4, 4], [3, 4], [3, 4]], [2, 2, 2, 2],
[[1, 1], [1, 1], [0, 1], [0, 1]]]
else:
size_stride_pad = [[4] * 6, [2] * 6, [1] * 6]
n_features = [
1 * cfg.unet.m, 2 * cfg.unet.m, 3 * cfg.unet.m, 4 * cfg.unet.m,
5 * cfg.unet.m
]
net = torch.nn.Sequential(
utils.conv_4x4_bn(3, cfg.unet.m // 2, 2),
utils.conv_4x4_bn(cfg.unet.m // 2, cfg.unet.m, 2),
utils.UNet(2,
n_features,
*size_stride_pad,
cfg.unet.depth,
join=cfg.unet.join,
hs=cfg.unet.hs,
t=cfg.unet.t),
torch.nn.Conv2d(cfg.unet.m, 1 + cfg.n_multipred, 1, 1, 0),
torch.nn.Upsample(scale_factor=8))
net.load_state_dict(torch.load(cfg.unet.name, map_location=cfg.device)[1])
net.eval()
net.to(cfg.device)
s = utils.load_scene(cfg, net)
utils.prematch_scene(cfg, s, thread_pool)
s['ransac matches'] = {}
def f(k):
torch.set_num_threads(1)
if k[0] + 1 == k[1]:
b = utils.PairwiseRidgeSfM(s,
k,
reps=64,
precision=cfg.precision,
min_matches=16,
iters=3,
gr=0.2,
weight_decay=cfg.lmbda).backup
else:
b = utils.PairwiseRidgeSfM(s,
k,
reps=32,
precision=cfg.precision,
min_matches=16,
iters=3,
gr=0.2,
weight_decay=cfg.lmbda).backup
return b
betas = list(
tqdm(thread_pool.imap_unordered(f, s['matches'].keys()),
desc='Pairwise-RidgeSfM',
total=len(s['matches'])))
for b in betas:
if len(b) > 3:
s['ransac matches'][b['k']] = b
scene = utils.GlobalBundleAdjustment(s).to(cfg.device)
scene.make_optim()
for i in range(scene.bundle_k.size(0) * 6):
active_k = min((i // 5 + 1), scene.bundle_k.size(0))
n_cams = scene.bundle_k[active_k - 1][1]
scene.bundle_init(active_k, i % 1000 == 0)
for i in range(12):
scene.flub(i)
scene.vid_plot(cfg.outdir +
f'/scene{cfg.scene.n}_frameskip{cfg.scene.frameskip}',
frame_rate={
1: 24,
3: 8,
10: 3,
30: 1
}[cfg.scene.frameskip],
cam_skip={
1: 10,
3: 3,
10: 1,
30: 1
}[cfg.scene.frameskip],
device=cfg.device)
out_file = eval_scannet.get_dumpfile(cfg.outdir, s['file_name'])
scene.pose(out_file)
def start(screen):
"""Fonction s'occupant rapidement de la boucle de jeu"""
state = ["main_menu"]
in_game = True
while in_game:
if state[0] == "quit":
in_game = False
elif state[0] == "main_menu":
menu = MainMenu.MainMenu(screen)
state = menu.start()
elif state[
0] == "create_scene": # Quand on clique sur "Nouvelle scène", on doit taper un nom
# Si la scène existe déjà, on l'édit aussi
menu = NewSceneAsk(screen)
info = menu.start()
if info[0] == "quit":
return [
"quit",
]
if not os.path.isfile("scenes/scene_" + info[0] + ".json"):
empty_json = ""
if info[1]:
empty_json = '{"type": "choice", "personnages":[], "background": "", "music":"", "choices":[]}'
else:
empty_json = '{"type":"scene", "personnages": [], "flags": [], "events": [], "background": "", "music":"", "text": "", "next":""}'
utils.save_scene(empty_json, info[0])
state = ["edit_scene", info[0]]
elif state[
0] == "choose_scene": # Quand on clique sur "Ouvrir un scène", on doit taper laquelle on veut modif
menu = AskInfo.AskInfo(screen,
"Entrez le nom de la scène à modifier :")
exist = False
info = menu.start()
if info[0] == "quit":
return [
"quit",
]
while not exist: # Check si la scène existe ou non
if info[0] == "quit":
return [
"quit",
]
elif not os.path.isfile("scenes/scene_" + info + ".json"):
info = menu.start("La scène " + info + " n'existe pas.")
else:
exist = True
state = ["edit_scene", info]
elif state[
0] == "edit_scene": # Une fois que le nom de scène a été choisi
# On doit commencer par récupérer le json
name_scene = str(state[1])
json_scene = utils.load_scene(name_scene)
menu = None
if json_scene["type"] == "choice":
menu = EditChoice(screen, json_scene)
else:
menu = EditScene.EditScene(screen, json_scene)
state = menu.start()
if len(state) > 1:
# Ici, on a reçu un json à enregistrer
utils.save_scene(state[1], name_scene)
# On demande un nom, pour commencer directement la prochaine save
menu = AskInfo.AskInfo(screen, "Nom de la prochaine scene :")
next_scene_name = menu.start()
if next_scene_name[0] != "quit":
# On enregistre directement le champs next de l'ancienne scene
json_old = json.loads(state[1])
if json_old.get("next", False):
json_old["next"] = next_scene_name
utils.save_scene(json.dumps(json_old), name_scene)
if not os.path.isfile("scenes/scene_" + next_scene_name +
".json"):
# Pour gagner du temps, on reprend le même background, et la même musique que pour la scène précédente
# Il y a de grandes chances que ces deux attributs ne changent pas d'une scène à l'autre
new_json = '{"personnages": [], "flags": [], "events": [], "background": "' + json_old[
"background"] + '", "music":"' + json_old[
"music"] + '", "text": "", "next":""}'
utils.save_scene(new_json, next_scene_name)
state = ["edit_scene", next_scene_name]
else:
return [
'quit',
]