starting cleanup

Author: Turgibot

__pycache__/data_handler.cpython-39.pyc

@@ -1,13 +1,9 @@
 import numpy as np
 import cv2
-from datetime import datetime
-import pickle as pkl
 import pathlib
 
-from pytest import param
 import os
 import esim_torch as esim_torch
-import glob
 import torch
 
 
@@ -54,6 +50,7 @@ def visualize_data(shared_data):
     neg_th = None
     pos_th = None
     dir_name="spikes_output"
+    title = "Sim2E Visualizer"
     while True:
         width = shared_data[0]
         height = shared_data[1]
@@ -123,15 +120,10 @@ def visualize_data(shared_data):
             recording = False
 
         frame_counter += 1
-
-            
-
-        cv2.imshow("", all_frames)
+        cv2.imshow(title, all_frames)
         if cv2.waitKey(1) == 27:
             break
 
-
-    
     cv2.destroyAllWindows()
 
 def render(x, y, t, p, shape):
@@ -170,31 +162,3 @@ def get_depth_frame(width, height, frame, stereo):
     frame = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
     frame = cv2.flip(frame, 0)
     return frame
-
-def get_spike_frame(frame, prev_frame, pos_th, neg_th):
-    pos_th/=1000
-    neg_th/=1000
-
-    src_shape = (frame.shape[0], frame.shape[1], 3) 
-    colored_frame = None
-    if prev_frame is not None:
-        spikes_frame = getSpikesFrom2Frames(prev_frame, frame, pos_th, neg_th).flatten()
-        shape = [int(x) for x in spikes_frame.shape]
-        colored_frame = np.zeros(shape=shape+[3], dtype="uint8")
-        colored_frame[spikes_frame==-1] = [255, 0, 0] 
-        colored_frame[spikes_frame==1] = [0, 0, 255] 
-        colored_frame = colored_frame.reshape(src_shape)
-        
-    return frame, colored_frame
-
-def getSpikesFrom2Frames(prev_frame, frame, pos_th, neg_th):
-        
-    frame = np.array(np.log(frame), dtype=np.float16)
-    prev_frame = np.array(np.log(prev_frame), dtype=np.float16)
-    deltas = np.array(frame-prev_frame, dtype=np.float16)
-    deltas = np.where(deltas >= pos_th, 1, deltas)
-    deltas = np.where(deltas <= -neg_th, -1, deltas)
-    deltas = np.where(deltas > 1, 0, deltas)
-    deltas = np.where(deltas < -1 , 0, deltas)
-        
-    return deltas

data_handler.py

@@ -1,14 +1,6 @@
 import asyncio
-from cgitb import handler
-from collections import defaultdict
-from datetime import date
-from email.policy import default
-import enum
 import logging
-from re import S
-import time
-from turtle import update
-from typing import AsyncIterable, Iterable
+from typing import AsyncIterable
 
 import grpc
 import UnityStreamer_pb2

main.py

@@ -1,4 +1,4 @@
-import re
+
 import socket
 import struct
 

project/simulation/__pycache__/mjremote.cpython-39.pyc

@@ -14,8 +14,6 @@
 import mujoco_py as mjc
 import os
 import numpy as np
-import glfw
-import cv2
 from .utilities import *
 
 class Mujocoation:

project/simulation/mjremote.py

@@ -10,15 +10,12 @@
 Each state is a dictionary of joint torques
 
 """
-from cmath import acos, asin
-from multiprocessing.connection import wait
-import random
+from cmath import acos
 from cv2 import sqrt
 import numpy as np
-from sympy import rot_axis1, rot_axis2, rot_axis3
+from sympy import rot_axis1, rot_axis2
 
 from .utilities import *
-import mujoco_py as mjc
 
 
 class States:

project/simulation/scene.py

@@ -1,3 +1,4 @@
 lpips==0.1.4
 dynamixel-sdk==3.7.31
 sympy==1.11.1
+dv==1.0.10

project/simulation/state_machine.py

@@ -1,7 +1,6 @@
 import glob
 import argparse
 import os
-import h5py
 import pandas as pd
 import numpy as np
 from event_packagers import *