def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1]))
window.clearcolor=[0,0,0,0]
window.flag_drawgrid = True
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
g = blockcraft.translated_rotated(main.R_correct, grid.occ)
talk_to_minecraft(g)
window.Refresh()
pylab.waitforbuttonpress(0.005)
import sys
sys.stdout.flush()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
rgb, _ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1, 0.6, 0.6, 1]))
window.clearcolor = [0, 0, 0, 0]
window.flag_drawgrid = True
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
g = blockcraft.translated_rotated(main.R_correct, grid.occ)
talk_to_minecraft(g)
window.Refresh()
pylab.waitforbuttonpress(0.005)
import sys
sys.stdout.flush()
def once():
global depth, rgb
preview.canvas.SetCurrent()
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
#blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1]))
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1]))
preview.clearcolor=[0,0,0,0]
preview.flag_drawgrid = True
if 'R_correct' in main.__dict__:
preview.modelmat = main.R_display
else:
preview.modelmat = main.R_aligned
preview.Refresh()
window.Refresh()
pylab.waitforbuttonpress(0.005)
def show_align(A, B):
blockdraw.clear()
blockdraw.show_grid('0', A & ~B, color=np.array([1,0,0,1]))
blockdraw.show_grid('1', B & ~A, color=np.array([0,0,1,1]))
blockdraw.show_grid('2', A & B, color=np.array([1,0,1,1]))
window.clearcolor=[1,1,1,0]
window.Refresh()
def show_align(A, B):
blockdraw.clear()
blockdraw.show_grid('0', A & ~B, color=np.array([1,0,0,1]))
blockdraw.show_grid('1', B & ~A, color=np.array([0,0,1,1]))
blockdraw.show_grid('2', A & B, color=np.array([1,0,1,1]))
window.clearcolor=[1,1,1,0]
window.Refresh()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
rgb, _ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
try:
c, _ = hashalign.find_best_alignment(grid.occ, 0 * grid.occ,
target_model, ~target_model)
except ValueError:
pass
else:
tm = hashalign.apply_correction(target_model, *c)
tm = np.ascontiguousarray(tm)
not_filled = tm & ~grid.occ
correct = tm & grid.occ
incorrect = ~tm & grid.occ
try:
next_layer = np.min(np.nonzero(not_filled)[1])
except ValueError:
blockdraw.show_grid('0',
grid.occ,
color=np.array([0.2, 1, 0.2, 1]))
else:
blockdraw.show_grid('1', incorrect, color=np.array([1, 1, 0.1, 1]))
nf = not_filled * 0
nf[:, next_layer, :] = 1
nf = nf & not_filled
blockdraw.show_grid('2', nf, color=np.array([1, 0.2, 1.0, 1]))
blockdraw.show_grid('3',
correct,
color=np.array([0.1, 0.3, 0.1, 1]))
window.clearcolor = [0, 0, 0, 0]
window.flag_drawgrid = False
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
#show_rgb(rgb)
window.Refresh()
pylab.waitforbuttonpress(0.005)
sys.stdout.flush()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
try:
c,_ = hashalign.find_best_alignment(grid.occ,0*grid.occ,
target_model,~target_model)
except ValueError:
pass
else:
tm = hashalign.apply_correction(target_model, *c)
tm = np.ascontiguousarray(tm)
not_filled = tm & ~grid.occ
correct = tm & grid.occ
incorrect = ~tm & grid.occ
try:
next_layer = np.min(np.nonzero(not_filled)[1])
except ValueError:
blockdraw.show_grid('0', grid.occ, color=np.array([0.2,1,0.2,1]))
else:
blockdraw.show_grid('1', incorrect,
color=np.array([1,1,0.1,1]))
nf = not_filled*0
nf[:,next_layer,:] = 1
nf = nf & not_filled
blockdraw.show_grid('2', nf,
color=np.array([1,0.2,1.0,1]))
blockdraw.show_grid('3', correct, color=np.array([0.1,0.3,0.1,1]))
window.clearcolor=[0,0,0,0]
window.flag_drawgrid = False
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
#show_rgb(rgb)
window.Refresh()
pylab.waitforbuttonpress(0.005)
sys.stdout.flush()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth,_ = opennpy.sync_get_depth()
rgb,_ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1]))
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1]))
#blockdraw.show_grid('vac', grid.vac,
# color=np.array([0.6,1,0.6,0]))
if 0 and lattice.is_valid_estimate():
window.clearcolor=[0.9,1,0.9,0]
else:
window.clearcolor=[0,0,0,0]
#window.clearcolor=[1,1,1,0]
window.flag_drawgrid = True
if 1:
update_display()
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
show_rgb(rgb)
window.Refresh()
pylab.waitforbuttonpress(0.005)
sys.stdout.flush()
def once():
global depth, rgb
if not FOR_REAL:
dataset.advance()
depth = dataset.depth
rgb = dataset.rgb
else:
opennpy.sync_update()
depth, _ = opennpy.sync_get_depth()
rgb, _ = opennpy.sync_get_video()
main.update_frame(depth, rgb)
blockdraw.clear()
#blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1]))
if 'RGB' in stencil.__dict__:
blockdraw.show_grid('occ', grid.occ, color=grid.color)
else:
blockdraw.show_grid('occ', grid.occ, color=np.array([1, 0.6, 0.6, 1]))
#blockdraw.show_grid('vac', grid.vac,
# color=np.array([0.6,1,0.6,0]))
if 0 and lattice.is_valid_estimate():
window.clearcolor = [0.9, 1, 0.9, 0]
else:
window.clearcolor = [0, 0, 0, 0]
#window.clearcolor=[1,1,1,0]
window.flag_drawgrid = True
if 1:
update_display()
if 'R_correct' in main.__dict__:
window.modelmat = main.R_display
#show_rgb(rgb)
window.Refresh()
pylab.waitforbuttonpress(0.005)
sys.stdout.flush()
def go(dset=None, frame_num=0, forreal=False):
global FOR_REAL
FOR_REAL = forreal
blockdraw.clear()
start(dset, frame_num)
resume()
