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)