def once(): global depth, rgb if not FOR_REAL: dataset.advance() depth = dataset.depth rgb = dataset.rgb else: opennpy.sync_update() depth,_ = opennpy.sync_get_depth() rgb,_ = opennpy.sync_get_video() main.update_frame(depth, rgb) blockdraw.clear() if 'RGB' in stencil.__dict__: blockdraw.show_grid('occ', grid.occ, color=grid.color) else: blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1])) window.clearcolor=[0,0,0,0] window.flag_drawgrid = True if 'R_correct' in main.__dict__: window.modelmat = main.R_display g = blockcraft.translated_rotated(main.R_correct, grid.occ) talk_to_minecraft(g) window.Refresh() pylab.waitforbuttonpress(0.005) import sys sys.stdout.flush()
def once(): global depth, rgb if not FOR_REAL: dataset.advance() depth = dataset.depth rgb = dataset.rgb else: opennpy.sync_update() depth, _ = opennpy.sync_get_depth() rgb, _ = opennpy.sync_get_video() main.update_frame(depth, rgb) blockdraw.clear() if 'RGB' in stencil.__dict__: blockdraw.show_grid('occ', grid.occ, color=grid.color) else: blockdraw.show_grid('occ', grid.occ, color=np.array([1, 0.6, 0.6, 1])) window.clearcolor = [0, 0, 0, 0] window.flag_drawgrid = True if 'R_correct' in main.__dict__: window.modelmat = main.R_display g = blockcraft.translated_rotated(main.R_correct, grid.occ) talk_to_minecraft(g) window.Refresh() pylab.waitforbuttonpress(0.005) import sys sys.stdout.flush()
def once(): global depth, rgb preview.canvas.SetCurrent() opennpy.sync_update() depth,_ = opennpy.sync_get_depth() rgb,_ = opennpy.sync_get_video() main.update_frame(depth, rgb) blockdraw.clear() #blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1])) if 'RGB' in stencil.__dict__: blockdraw.show_grid('occ', grid.occ, color=grid.color) else: blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1])) preview.clearcolor=[0,0,0,0] preview.flag_drawgrid = True if 'R_correct' in main.__dict__: preview.modelmat = main.R_display else: preview.modelmat = main.R_aligned preview.Refresh() window.Refresh() pylab.waitforbuttonpress(0.005)
def show_align(A, B): blockdraw.clear() blockdraw.show_grid('0', A & ~B, color=np.array([1,0,0,1])) blockdraw.show_grid('1', B & ~A, color=np.array([0,0,1,1])) blockdraw.show_grid('2', A & B, color=np.array([1,0,1,1])) window.clearcolor=[1,1,1,0] window.Refresh()
def once(): global depth, rgb if not FOR_REAL: dataset.advance() depth = dataset.depth rgb = dataset.rgb else: opennpy.sync_update() depth, _ = opennpy.sync_get_depth() rgb, _ = opennpy.sync_get_video() main.update_frame(depth, rgb) blockdraw.clear() try: c, _ = hashalign.find_best_alignment(grid.occ, 0 * grid.occ, target_model, ~target_model) except ValueError: pass else: tm = hashalign.apply_correction(target_model, *c) tm = np.ascontiguousarray(tm) not_filled = tm & ~grid.occ correct = tm & grid.occ incorrect = ~tm & grid.occ try: next_layer = np.min(np.nonzero(not_filled)[1]) except ValueError: blockdraw.show_grid('0', grid.occ, color=np.array([0.2, 1, 0.2, 1])) else: blockdraw.show_grid('1', incorrect, color=np.array([1, 1, 0.1, 1])) nf = not_filled * 0 nf[:, next_layer, :] = 1 nf = nf & not_filled blockdraw.show_grid('2', nf, color=np.array([1, 0.2, 1.0, 1])) blockdraw.show_grid('3', correct, color=np.array([0.1, 0.3, 0.1, 1])) window.clearcolor = [0, 0, 0, 0] window.flag_drawgrid = False if 'R_correct' in main.__dict__: window.modelmat = main.R_display #show_rgb(rgb) window.Refresh() pylab.waitforbuttonpress(0.005) sys.stdout.flush()
def once(): global depth, rgb if not FOR_REAL: dataset.advance() depth = dataset.depth rgb = dataset.rgb else: opennpy.sync_update() depth,_ = opennpy.sync_get_depth() rgb,_ = opennpy.sync_get_video() main.update_frame(depth, rgb) blockdraw.clear() try: c,_ = hashalign.find_best_alignment(grid.occ,0*grid.occ, target_model,~target_model) except ValueError: pass else: tm = hashalign.apply_correction(target_model, *c) tm = np.ascontiguousarray(tm) not_filled = tm & ~grid.occ correct = tm & grid.occ incorrect = ~tm & grid.occ try: next_layer = np.min(np.nonzero(not_filled)[1]) except ValueError: blockdraw.show_grid('0', grid.occ, color=np.array([0.2,1,0.2,1])) else: blockdraw.show_grid('1', incorrect, color=np.array([1,1,0.1,1])) nf = not_filled*0 nf[:,next_layer,:] = 1 nf = nf & not_filled blockdraw.show_grid('2', nf, color=np.array([1,0.2,1.0,1])) blockdraw.show_grid('3', correct, color=np.array([0.1,0.3,0.1,1])) window.clearcolor=[0,0,0,0] window.flag_drawgrid = False if 'R_correct' in main.__dict__: window.modelmat = main.R_display #show_rgb(rgb) window.Refresh() pylab.waitforbuttonpress(0.005) sys.stdout.flush()
def once(): global depth, rgb if not FOR_REAL: dataset.advance() depth = dataset.depth rgb = dataset.rgb else: opennpy.sync_update() depth,_ = opennpy.sync_get_depth() rgb,_ = opennpy.sync_get_video() main.update_frame(depth, rgb) blockdraw.clear() blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1])) if 'RGB' in stencil.__dict__: blockdraw.show_grid('occ', grid.occ, color=grid.color) else: blockdraw.show_grid('occ', grid.occ, color=np.array([1,0.6,0.6,1])) #blockdraw.show_grid('vac', grid.vac, # color=np.array([0.6,1,0.6,0])) if 0 and lattice.is_valid_estimate(): window.clearcolor=[0.9,1,0.9,0] else: window.clearcolor=[0,0,0,0] #window.clearcolor=[1,1,1,0] window.flag_drawgrid = True if 1: update_display() if 'R_correct' in main.__dict__: window.modelmat = main.R_display show_rgb(rgb) window.Refresh() pylab.waitforbuttonpress(0.005) sys.stdout.flush()
def once(): global depth, rgb if not FOR_REAL: dataset.advance() depth = dataset.depth rgb = dataset.rgb else: opennpy.sync_update() depth, _ = opennpy.sync_get_depth() rgb, _ = opennpy.sync_get_video() main.update_frame(depth, rgb) blockdraw.clear() #blockdraw.show_grid('o1', main.occvac.occ, color=np.array([1,1,0,1])) if 'RGB' in stencil.__dict__: blockdraw.show_grid('occ', grid.occ, color=grid.color) else: blockdraw.show_grid('occ', grid.occ, color=np.array([1, 0.6, 0.6, 1])) #blockdraw.show_grid('vac', grid.vac, # color=np.array([0.6,1,0.6,0])) if 0 and lattice.is_valid_estimate(): window.clearcolor = [0.9, 1, 0.9, 0] else: window.clearcolor = [0, 0, 0, 0] #window.clearcolor=[1,1,1,0] window.flag_drawgrid = True if 1: update_display() if 'R_correct' in main.__dict__: window.modelmat = main.R_display #show_rgb(rgb) window.Refresh() pylab.waitforbuttonpress(0.005) sys.stdout.flush()
def go(dset=None, frame_num=0, forreal=False): global FOR_REAL FOR_REAL = forreal blockdraw.clear() start(dset, frame_num) resume()