def run_commands_demo(logger):
time.sleep(10)
logger.request('vget /unrealcv/status')
logger.request('vget /unrealcv/version')
logger.request('vget /scene/name')
res = logger.request('vget /camera/0/location')
res = logger.request('vget /camera/0/rotation')
# res = logger.request('vset /camera/0/location -162 -126 90')
# res = logger.request('vset /camera/0/rotation 348 60 0')
res = logger.request('vget /camera/0/lit png', log=False)
img = read_png(res)
res = logger.request('vget /camera/0/depth npy', log=False)
depth = read_npy(res)
clip_far = np.median(depth) * 5 # use median instead of mean
logger.writelines('Before clip, max=%f, mean=%f' %
(depth.max(), depth.mean()))
depth[depth > clip_far] = clip_far
logger.writelines('Before clip, max=%f, mean=%f' %
(depth.max(), depth.mean()))
# Trancate the depth of the window and sky to make it easier to see
res = logger.request('vget /camera/0/normal npy', log=False)
normal = read_npy(res)
res = logger.request('vget /camera/0/object_mask png', log=False)
object_mask = read_png(res)
logger.save_image("img.png", img)
logger.save_image("depth.png", normalize(depth))
logger.save_image("surface_normal.png", normalize(normal))
logger.save_image("object_mask.png", object_mask)
res = logger.request('vget /camera/0/lit lit.png')
res = logger.request('vget /camera/0/depth depth.png')
res = logger.request('vget /camera/0/object_mask object_mask.png')
res = logger.request('vget /objects', log=False)
object_names = res.split(' ')
logger.writelines(object_names[:5])
def get_image(obj, dist, az, el):
client.request(
'vset /animal/{obj}/camera {dist} {az} {el}'.format(**locals()))
lit = client.request('vget /animal/{obj}/image'.format(**locals()))
seg = client.request('vget /animal/{obj}/seg'.format(**locals()))
depth = client.request('vget /animal/{obj}/depth'.format(**locals()))
lit = read_png(lit)
seg = read_png(seg)
depth = read_npy(depth)
return lit, seg, depth
def run_commands_demo(logger):
time.sleep(10)
logger.request('vget /unrealcv/status')
logger.request('vget /unrealcv/version')
logger.request('vget /scene/name')
res = logger.request('vget /camera/0/location')
res = logger.request('vget /camera/0/rotation')
# res = logger.request('vset /camera/0/location -162 -126 90')
# res = logger.request('vset /camera/0/rotation 348 60 0')
res = logger.request('vget /camera/0/lit png', log = False)
img = read_png(res)
res = logger.request('vget /camera/0/depth npy', log = False)
depth = read_npy(res)
clip_far = np.median(depth) * 5 # use median instead of mean
logger.writelines('Before clip, max=%f, mean=%f' % (depth.max(), depth.mean()))
depth[depth > clip_far] = clip_far
logger.writelines('Before clip, max=%f, mean=%f' % (depth.max(), depth.mean()))
# Trancate the depth of the window and sky to make it easier to see
res = logger.request('vget /camera/0/normal npy', log = False)
normal = read_npy(res)
res = logger.request('vget /camera/0/object_mask png', log = False)
object_mask = read_png(res)
logger.save_image("img.png", img)
logger.save_image("depth.png", normalize(depth))
logger.save_image("surface_normal.png", normalize(normal))
logger.save_image("object_mask.png", object_mask)
res = logger.request('vget /camera/0/lit lit.png')
res = logger.request('vget /camera/0/depth depth.png')
res = logger.request('vget /camera/0/object_mask object_mask.png')
res = logger.request('vget /objects', log = False)
object_names = res.split(' ')
logger.writelines(object_names[:5])
def get_rgb_and_depth(self, loc, rot, verbose=False):
# set camera to loc and rot
self.vset(loc, rot, verbose=verbose)
res = client.request('vget /camera/0/lit png')
img = read_png(res)
if verbose:
print(res)
res = client.request('vget /camera/0/depth npy')
depth = read_npy(res)
if verbose:
print(res)
return img, depth
def imageCapture(self):
self.stop = False
cmd = 'vget /cameraComponent/0/all/' + self.viewMode.get().lower() + ' npy'
res = client.request(cmd)
if not isinstance(res, str):
images = read_npy(res)
self.log.insert(END, "LOG: Camera component captured\n")
else:
images = []
self.log.insert(END, "LOG ERROR: Can't parse npy -> " + str(res) + "\n")
self.showImageCaptured(images)
self.predict(images)
def get_depth(self):
id = self.id
res = self.request('vget /camera/{id}/depth npy'.format(**locals()))
return read_npy(res)
def get_depth(self):
obj_id = self.id
depth = self.request('vget /animal/{obj_id}/depth'.format(**locals()))
depth = read_npy(depth)
return depth
def get_depth(self):
res = self.request('vget /camera/0/depth npy')
depth = read_npy(res)
depth[depth > 5000] = 0
# cut-off for better visualization
return depth
print ('UnrealCV server is not running')
else:
print ("Start: ")
# Test connection
res = client.request('vget /unrealcv/status')
print ("Status: " + str(res))
start_time = time.time()
res = client.request('vget /cameraComponent/0/all/lit npy')
print("--- %2.3f seconds ---" % (time.time() - start_time))
img_1 = read_npy(res)
# my_img = img_1[...,:3]
print(img_1.shape)
start_time = time.time()
res = client.request('vget /cameraComponent/0/0/lit npy')
res = client.request('vget /cameraComponent/0/1/lit npy')
res = client.request('vget /cameraComponent/0/2/lit npy')
res = client.request('vget /cameraComponent/0/3/lit npy')
print("--- %2.3f seconds ---" % (time.time() - start_time))
f, axarr = plt.subplots(2,2)
#axarr.imshow(img_1)
camera_traj[i]['rotation'][2])
print(camera_str) #472.783,-204.083,95.24,357.459,40.746,0.0
client.request('vset /camera/0/location {x} {y} {z}'.format(
x=camera_traj[i]['location'][0],
y=camera_traj[i]['location'][1],
z=camera_traj[i]['location'][2]))
client.request('vset /camera/0/rotation {x} {y} {z}'.format(
x=camera_traj[i]['rotation'][0],
y=camera_traj[i]['rotation'][1],
z=camera_traj[i]['rotation'][2]))
res_depth = client.request('vget /camera/0/depth npy')
res_lit = client.request('vget /camera/0/lit png')
res_object = client.request('vget /camera/0/object_mask png')
res_normal = client.request('vget /camera/0/normal png')
im_depth = read_npy(res_depth)
#由於深度會有超過5000以上的值，圖會有白色的部分，因此把他指定為0，會轉為黑色
im_depth[im_depth > 5000] = 0
im_lit = read_png(res_lit)
im_object = read_png(res_object)
im_normal = read_png(res_normal)
pil_img_depth = Image.fromarray(im_depth)
pil_img_lit = Image.fromarray(im_lit)
pil_img_object = Image.fromarray(im_object)
pil_img_normal = Image.fromarray(im_normal)
pil_img_depth = pil_img_depth.convert('RGB')
# pil_img_depth.save('./data_arch/depth_image/depth_image_{i}.png'.format(i=i))
pil_img_depth.save(depth_image_path + '/depth_image_{i}.png'.format(i=i))
# np.save('./data_arch/depth/depth_{i}'.format(i=i),im_depth)
def capture_depth(self):
res = self.client.request('vget /camera/{id}/depth npy'.format(id = self.id))
depth = read_npy(res)
return depth