def test_random_operation():
''' Randomly connect and disconnect the client, this is very likely to fail '''
echo_server = MessageServer((localhost, echo_port))
echo_server.start()
client = unrealcv.Client((localhost, echo_port))
num_random_trial = 10
print('Try random operation %d times' % num_random_trial)
for i in range(num_random_trial):
msg = 'Trial %d' % i
choice = random.randrange(2)
if choice == 1:
client.connect()
time.sleep(0.1)
assert client.isconnected() == True, msg
elif choice == 0:
client.disconnect()
time.sleep(0.1)
assert client.isconnected() == False, msg
for i in range(10):
client.connect()
assert client.isconnected() == True
for i in range(10):
client.disconnect()
assert client.isconnected() == False
echo_server.shutdown()
def test_client_release():
'''
If the previous client release the connection, further connection should be accepted. This will also test the server code
'''
echo_server = MessageServer((localhost, echo_port))
echo_server.start()
client = unrealcv.Client((localhost, echo_port))
num_release_trial = 10
print('Try to release client %d times', num_release_trial)
for i in range(num_release_trial):
msg = 'Trial %d' % i
client.connect()
assert client.isconnected() == True, msg
# Do something
req = 'ok'
res = client.request(req)
assert req == res, msg
client.disconnect(
) # Make sure the server can correctly handle the disconnection signal
assert client.isconnected() == False, msg
print('Trial %d is finished.' % i)
echo_server.shutdown()
def main():
total_nr_objects = 68
max_nr_objects = 68
locations, rotations = generate_camera_positions()
ensure_dir(base_folder + "Points/gt/%s/" % (sub_scale_folder))
ensure_dir(base_folder + "Calibration/cal18/")
for c in range(len(locations)):
RT = position_to_transform(locations[c], rotations[c])
P = np.matmul(baseK, RT)
output_file = base_folder + "Calibration/cal18/pos_%03d.txt" % (c +
1, )
f = open(output_file, 'w')
f.write("%f %f %f %f\n" % (P[0, 0], P[0, 1], P[0, 2], P[0, 3]))
f.write("%f %f %f %f\n" % (P[1, 0], P[1, 1], P[1, 2], P[1, 3]))
f.write("%f %f %f %f\n" % (P[2, 0], P[2, 1], P[2, 2], P[2, 3]))
f.close()
try:
if not client.connect():
print("Could not connect to client! Exiting.")
return
set_all_invisible(total_nr_objects)
set_resolution()
for i in tqdm(range(1, max_nr_objects + 1), desc="Scanning"):
set_visible_object(i)
scan_path = 'scan%d' % (i, )
capture_camera_positions(scan_path, locations, rotations)
finally:
client.disconnect()
def test_request():
''' Simple test for basic functions '''
server = MessageServer((localhost, echo_port))
server.start()
client = unrealcv.Client((localhost, echo_port))
cmds = ['hi', 'hello', 'asdf' * 70]
client.connect()
assert client.isconnected() == True
for cmd in cmds:
res = client.request(cmd)
assert res == cmd
client.disconnect() # TODO: What if forgot to disconnect
server.shutdown()
def collect(self, count=400, preprocess=True):
client.connect()
if not client.isconnected():
raise RuntimeError("Could not connect to client. ")
# First we prepare the Unreal Engine environment by preprocessing it
if preprocess:
PreProcessor(self.environment_folder).preprocess()
# Then we build our dataset
Builder(self.environment_folder).build(count)
client.disconnect()
def main():
client.connect()
if not client.isconnected():
print("LOG: UnrealCV server is not running")
else:
root = Tk()
#size of the window
root.geometry("1200x610")
app = Window(root)
root.mainloop()
client.disconnect()
def build():
default_environment_folder = UnrealCollector(
"testing_default").environment_folder
client.connect()
if not client.isconnected():
raise RuntimeError("Could not connect to client. ")
builder = Builder(default_environment_folder)
points = builder.get_random_points(400)
builder.build_from_points(points)
new_environment_folder = UnrealCollector("testing_new").environment_folder
builder = Builder(new_environment_folder)
PreProcessor(new_environment_folder).preprocess()
builder.build_from_points(points)
client.disconnect()
def test_multi_connection():
'''
Only one client is allowed for the server
Make a second connection to the server, when one connection exists
'''
echo_server = MessageServer((localhost, echo_port))
echo_server.start()
client = unrealcv.Client((localhost, echo_port))
client.connect(timeout=0.1)
assert client.isconnected() == True
response = client.request('hi')
assert response == 'hi'
for i in range(10):
client = unrealcv.Client((localhost, echo_port))
client.connect(0.1)
# print client.connect()
assert client.isconnected() == False
client.disconnect()
echo_server.shutdown()
cm.render_joints(skeletons, color1)
skeletons = api.estimate_keypoints(color2, 192)
cm.render_skeletons(skeletons, color2)
cm.render_joints(skeletons, color2)
skeletons = api.estimate_keypoints(color3, 192)
cm.render_skeletons(skeletons, color3)
cm.render_joints(skeletons, color3)
skeletons = api.estimate_keypoints(color4, 192)
cm.render_skeletons(skeletons, color4)
cm.render_joints(skeletons, color4)
h1 = np.hstack((color1, color2))
h2 = np.hstack((color3, color4))
images = np.vstack((h1, h2))
vid_writer.write(images)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
frame_count -= 1
finally:
client.request(f'vrun slomo 1.0')
client.disconnect()
vid_writer.release()
vid_writer_org.release()
cv2.destroyAllWindows()
def client_disconnect(self):
res = client.disconnect()
return res
def reset_client():
# Free up unrealcv connection cleanly when shutting down
client.disconnect()
rospy.loginfo(
'On unreal_ros_client shutdown: disconnected unrealcv client.')
def __del__(self):
client.disconnect()
def main():
client.connect() # Connect to the game
if not client.isconnected(): # Check if the connection is successfully established
print('UnrealCV server is not running.')
sys.exit(-1)
else:
res = client.request('vget /unrealcv/status')
# The image resolution and port is configured in the config file.
print(res)
traj_file = '../../docs/tutorials_source/camera_traj.json'
camera_trajectory = json.load(open(traj_file))
idx = 1
loc, rot = camera_trajectory[idx]
# Set position of the first camera
client.request('vset /camera/0/location {x} {y} {z}'.format(**loc))
client.request('vset /camera/0/rotation {pitch} {yaw} {roll}'.format(**rot))
# Get image
res = client.request('vget /camera/0/lit lit.png')
print('The image is saved to %s' % res)
im = read_png(res)
# Generate Ground Truth
res = client.request('vget /camera/0/object_mask object_mask.png')
print('The image is saved to %s' % res)
object_mask = read_png(res)
res = client.request('vget /camera/0/normal normal.png')
print('The image is saved to %s' % res)
normal = read_png(res)
# Generate Depth
res = client.request('vget /camera/0/depth depth.png')
print('The image is saved to %s' % res)
# Get objects from the scene
scene_objects = client.request('vget /objects').split(' ')
print('Number of objects in this scene: ', len(scene_objects))
print('They are: ', scene_objects)
# Map from object id to the labeling color
id2color = {}
for obj_id in scene_objects:
color = Color(client.request('vget /object/%s/color' % obj_id))
id2color[obj_id] = color
# print('%s : %s' % (obj_id, str(color)))
id2mask = {}
for obj_id in scene_objects:
color = id2color[obj_id]
mask = match_color(object_mask, [color.R, color.G, color.B], tolerance=3)
if mask is not None:
id2mask[obj_id] = mask
obj_file = '../../docs/tutorials_source/object_category.json'
with open(obj_file) as f:
id2category = json.load(f)
categories = set(id2category.values())
# Show statistics of this frame
image_objects = id2mask.keys()
print('Number of objects in this image:', len(image_objects))
print('%20s : %s' % ('Category name', 'Object name'))
for category in categories:
objects = [v for v in image_objects if id2category.get(v) == category]
if len(objects) > 6: # Trim the list if too long
objects[6:] = ['...']
if len(objects) != 0:
print('%20s : %s' % (category, objects))
# Plot objs
vase_instance = [v for v in image_objects if id2category.get(v) == 'Vase']
mask = sum(id2mask[v] for v in vase_instance)
plt.figure()
plt.imshow(mask, cmap="gray")
plt.show()
client.disconnect()
