def engine():
print("Creating UnrealCVWrapper")
cv_wrapper = UnrealCVWrapper()
print("Yielding UnrealCVWrapper")
yield cv_wrapper
print("Closing UnrealCVWrapper")
cv_wrapper.close()
print("Closed UnrealCVWrapper")
def _configure(self, client_id, remotes):
address = '127.0.0.1'
port = 9900 + client_id
engine = UnrealCVWrapper(
address=address,
port=port,
max_depth_viewing_angle=math_utils.degrees_to_radians(70.))
self._environment._engine = engine
pc = ros_utils.point_cloud2_ros_to_numpy(response.point_cloud)
pc = np.unique(pc)
bbox_mask = get_bbox_mask(pc, bounding_box)
pc = pc[bbox_mask]
print(pc.shape)
uncertain_mask = get_uncertain_mask(pc)
pc = pc[uncertain_mask]
tentative_reward = len(pc)
rospy.loginfo("Tentative reward: {}".format(tentative_reward))
rospy.loginfo("")
raycast_pc_msg = response.point_cloud
raycast_pc_msg.header.stamp = timestamp
raycast_pc_msg.header.frame_id = 'map'
raycast_pc_pub.publish(raycast_pc_msg)
pc_xyz = ros_utils.structured_to_3d_array(pc)
print("pc_xyz.shape: ", pc_xyz.shape)
uncertain_pc_msg = ros_utils.point_cloud2_numpy_to_ros(pc_xyz)
uncertain_pc_msg.header.stamp = timestamp
uncertain_pc_msg.header.frame_id = 'map'
uncertain_pc_pub.publish(uncertain_pc_msg)
rate.sleep()
if __name__ == '__main__':
rospy.init_node('test_mapping', anonymous=False)
engine = UnrealCVWrapper()
raycast_topic = 'raycast_camera'
location_origin = np.array([0, 0, 0])
run(engine, raycast_topic, location_origin)
# engine.set_orientation_rpy(roll, pitch, yaw)
# Update camera location
# engine.set_location(location)
# rospy.logdebug("location: {} {} {}".format(*new_location))
# rospy.logdebug("rotation: {} {} {}".format(roll * 180 / np.pi, pitch * 180 / np.pi, yaw * 180 / np.pi))
# Read new pose, camera info and depth image
depth_image = engine.get_depth_image()
depth_point_cloud = engine.get_depth_point_cloud_rpy(engine.get_location(), engine.get_orientation_rpy())
# rospy.loginfo("mode={}, min depth={}, max depth={}".format(
# mode, np.min(depth_image.flatten()), np.max(depth_image.flatten())))
# if mode == 0:
# assert(np.min(depth_image) < 4)
# elif mode == 1:
# assert(np.min(depth_image) > 6)
# elif mode == 2:
# assert(np.min(depth_image) > 6)
# else:
# assert(np.min(depth_image) < 4)
# Update camera state
mode += 1
mode = mode % 4
rate.sleep()
if __name__ == '__main__':
rospy.init_node('test_depth_maps', anonymous=False)
engine = UnrealCVWrapper(image_scale_factor=0.5)
run(engine)