From 6f2697de1c70ab64e7a3a1ff69d8d71c99c816f1 Mon Sep 17 00:00:00 2001
From: Nils Koch <nkoch@seibert-media.net>
Date: Tue, 14 Jun 2022 20:45:12 +0200
Subject: [PATCH] frontend/__init__.py: general improvements, but still kinda
 wip

---
 frontend/__init__.py | 26 +++++++++++++++-----------
 1 file changed, 15 insertions(+), 11 deletions(-)

diff --git a/frontend/__init__.py b/frontend/__init__.py
index 6f51964..4abd906 100644
--- a/frontend/__init__.py
+++ b/frontend/__init__.py
@@ -20,6 +20,8 @@ img_dir = '../../usable_imgs/'
 cv2.namedWindow('Input Image')
 cv2.namedWindow('Predicted Disparity')
 
+signal.signal(signal.SIGUSR1, lambda *args: print('not setup yet'))
+
 vis = o3d.visualization.VisualizerWithKeyCallback()
 viscont = o3d.visualization.ViewControl()
 # vis.register_key_callback(99)
@@ -31,7 +33,7 @@ K = np.array([[567.6, 0, 324.7], [0, 570.2, 250.1], [0, 0, 1]], dtype=np.float32
 
 good_models = [260, 183]
 interesting = [214, ]
-# new ganz gut bei ca 175
+# new ganz gut bei ca 175, 235
 verbose = False
 
 running_tasks = set()
@@ -90,7 +92,7 @@ def normalize_and_colormap(img):
 def reproject(disparity_img):
     print('reprojecting')
     baseline = 0.075
-    depth_img = baseline * K[0][0] / disparity_img
+    depth_img = baseline * K[0][0] / (disparity_img + 1)
     pointcloud = o3d.geometry.PointCloud()
     intrinsics = o3d.pybind.camera.PinholeCameraIntrinsic()
     print('setting intrinsics')
@@ -131,10 +133,14 @@ def reproject(disparity_img):
     # dpcd.transform(flip_transform)
     pcd.remove_statistical_outlier(nb_neighbors=20, std_ratio=2.0)
     print('drawing pointcloud')
-    # vis.clear_geometries()
-    # vis.add_geometry(pcd, reset_bounding_box=True)
-    # viscont.rotate(250, 500)
-    vis.update_geometry(pcd)
+    vis.clear_geometries()
+    vis.add_geometry(pcd, reset_bounding_box=True)
+    viscont = vis.get_view_control()
+    viscont.translate(280, 800, yo=-900)
+    viscont.camera_local_rotate(-180, 250)
+    viscont.rotate(100, 0)
+    # viscont.camera_local_translate(forward=-5., right=-10., up=10.)
+    # vis.update_geometry(pcd)
     vis.poll_events()
     vis.update_renderer()
 
@@ -294,9 +300,6 @@ def create_task(*args):
     # return task
 
 
-signal.signal(signal.SIGUSR1, create_task)
-
-
 async def run_test(img_dir, iterate_checkpoints):
     img_dir = list(os.scandir(img_dir))
     for epoch in range(175, 270):
@@ -322,10 +325,11 @@ async def main():
     # change_epoch(good_models[1])
     # change_epoch('latest')
     o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Info)
+    signal.signal(signal.SIGUSR1, create_task)
 
     change_epoch(150)
     change_minimal_data(False)
-    await asyncio.sleep(50000)
+    # await asyncio.sleep(50000)
 
     # signal.signal(signal.SIGBUS, lambda x: print('received sigbus'))
     # loop = asyncio.get_running_loop()
@@ -335,7 +339,7 @@ async def main():
         # create_task()
         # await asyncio.sleep(0.1)
         # await run_test(img_dir, iterate_checkpoints)
-        await asyncio.sleep(50000)
+        await asyncio.sleep(5)
         # print('[main] slept')
         # if use_live_data:
         #     signal.pause()