import GameController as gc
import imgdecode as imd
import numpy as np
import cv2
con = gc.Controller()
con.connect()
keyarray = np.zeros(128, dtype=np.int)
while True:
img = con.getDepth()
img = imd.decode(img)
cv2.imshow('Depth', img)
key = cv2.waitKey(10)
if key <= 127:
keyarray[key] = ~keyarray[key]
ckey = chr(key)
if ckey.isalnum():
if keyarray[key] != 0:
con.KeyDown(ckey)
else:
con.KeyUp(ckey)
elif key == 27:
break
con.close()
np.sum(
np.square(
np.array(sample_position) -
np.array(position))))
if (position[1] - sample_position[1]) >= 0.001:
print("DROPPED: vertically shifted")
elif shifted >= sigma_xy * 1.5:
print("DROPPED: 2d shifted more than 1.5 * sigma_xy")
else:
image_count += 1
print("point collected, image count: {}".format(
image_count))
image_filename = node_id + '_' + str(i) + '.jpg'
image_path = os.path.join(room_dir, image_filename)
image = con.getSpherical()
image = imd.decode(image)
cv2.imwrite(image_path, image)
image_id_list.append(image_count)
node_id_list.append(node_id)
room_id_list.append(room_id)
position_list.append(sample_position)
angle_list.append(sample_angle)
image_path_list.append(image_path)
except:
print("DROPPED: controller error")
con.close()
try:
con = gc.Controller()
con.connect()
print("successfully connect to game controller")
except:
sys.exit()
if len(json_data[k])!=data_len:
print('Data length of key {} does not equal to {}'.format(k, data_len))
print('Error: .json file is not in the correct format')
sys.exit()
for i in range(data_len):
pos = json_data['position'][i]
ang = json_data['angle'][i]
# go to the pose
con.setPos(pos[0], pos[1], pos[2])
con.setRot(ang[0], ang[1], ang[2])
# get pose
json_data['position'][i] = con.getPos()
json_data['angle'][i] = con.getRot()
# take snapshot
img = con.getSpherical()
img = imd.decode(img)
# save image
img_path = json_data['image_path'][i]
img_path = osp.join(room_dir, img_path)
cv2.imwrite(img_path, img)
# update some robot poses in json file
with open(json_fname, 'w') as f:
json.dump(json_data, f)
finally:
con.close()
print('Connection end!')
print('Program end!')
con.setPos(x, position[1], z)
con.setRot(angle[0], theta + quad_rotate, angle[2])
sample_position = con.getPos()
sample_angle = con.getRot()
shifted = np.sqrt(np.sum(np.square(np.array(sample_position) - np.array(position))))
if (position[1] - sample_position[1]) >= 0.001:
print("DROPPED: vertically shifted")
elif shifted >= sigma_xy * 1.5:
print("DROPPED: 2d shifted more than 1.5 * sigma_xy")
else:
image_count += 1
print("point collected, image count: {}".format(image_count))
image_filename = node_id + '_' + str(i) + '.jpg'
image_path = os.path.join(room_dir, image_filename)
image = con.getSpherical()
image = imd.decode(image)
cv2.imwrite(image_path, image)
image_id_list.append(image_count)
node_id_list.append(node_id)
room_id_list.append(room_id)
position_list.append(sample_position)
angle_list.append(sample_angle)
image_path_list.append(image_path)
except:
print("DROPPED: controller error")
con.close()
try:
con = gc.Controller()
con.connect()
print("successfully connect to game controller")
except:
# use 'connect' to connect to unity
con.connect() # defalut is set to ip=127.0.0.1 port=4567 timeout=10
# use 'KeyDown' 'KeyUp' 'KeyPress' to pass key event to unity
con.KeyPress('W')
con.KeyUp('A')
con.KeyDown('S')
con.KeyUp('S')
# use 'setSpeed' and 'setRotateSpeed' to pass setting to unity
con.setSpeed(10) # or con.Speed(10)
con.setRotateSpeed(20) # or con.RSpeed(20)
# use 'getFirstView' 'getThirdView' to get image from unity
# ::NOTICE:: the return image is encoded as PNG format
# you need to use 'decode' function in 'imgdecode' module to decode it to cvmat form
# or you can just write your own decode function like 'decode' which use 'np.fromstring' and 'cv2.imdecode'
import imgdecode as imd
data = con.getFirstView()
img = imd.decode(data)
# or
arr = np.fromstring(data, up.uint8)
img = cv2.imdecode(arr, cv2.IMREAD_COLOR)
# then you can use other cv2 function to do process to your image
cv2.imshow('test', img)
# if any error occerred then you can check log file
# use 'KeyDown' 'KeyUp' 'KeyPress' to pass key event to unity
con.KeyPress('W')
con.KeyUp('A')
con.KeyDown('S')
con.KeyUp('S')
# use 'setSpeed' and 'setRotateSpeed' to pass setting to unity
con.setSpeed(10) # or con.Speed(10)
con.setRotateSpeed(20) # or con.RSpeed(20)
# use 'getFirstView' 'getThirdView' to get image from unity
# ::NOTICE:: the return image is encoded as PNG format
# you need to use 'decode' function in 'imgdecode' module to decode it to cvmat form
# or you can just write your own decode function like 'decode' which use 'np.fromstring' and 'cv2.imdecode'
import imgdecode as imd
data = con.getFirstView()
img = imd.decode(data)
# or
arr = np.fromstring(data, up.uint8)
img = cv2.imdecode(arr, cv2.IMREAD_COLOR)
# then you can use other cv2 function to do process to your image
cv2.imshow('test', img)
# if any error occerred then you can check log file