Rotate spot camera images.

predicators/perception/spot_perceiver.py

@@ -675,7 +675,6 @@ def step(self, observation: Observation) -> State:
         imgs = [v.rgb for _, v in imgs.items()]
         # import PIL
         # PIL.Image.fromarray(imgs[0]).show()
-        # import pdb; pdb.set_trace()
         self._gripper_open_percentage = observation.gripper_open_percentage
         self._curr_state = self._create_state()
         self._curr_state.simulator_state["images"] = imgs

predicators/spot_utils/perception/spot_cameras.py

@@ -2,6 +2,7 @@
 from typing import Collection, Dict, Optional, Type
 
 import cv2
+from scipy import ndimage
 import numpy as np
 from bosdyn.api import image_pb2
 from bosdyn.client.frame_helpers import BODY_FRAME_NAME, get_a_tform_b
@@ -22,12 +23,12 @@
     'right_fisheye_image': 180
 }
 RGB_TO_DEPTH_CAMERAS = {
-    # "hand_color_image": "hand_depth_in_hand_color_frame",
-    # "left_fisheye_image": "left_depth_in_visual_frame",
-    # "right_fisheye_image": "right_depth_in_visual_frame",
+    "hand_color_image": "hand_depth_in_hand_color_frame",
+    "left_fisheye_image": "left_depth_in_visual_frame",
+    "right_fisheye_image": "right_depth_in_visual_frame",
     "frontleft_fisheye_image": "frontleft_depth_in_visual_frame",
-    # "frontright_fisheye_image": "frontright_depth_in_visual_frame",
-    # "back_fisheye_image": "back_depth_in_visual_frame"
+    "frontright_fisheye_image": "frontright_depth_in_visual_frame",
+    "back_fisheye_image": "back_depth_in_visual_frame"
 }
 
 # Hack to avoid double image capturing when we want to (1) get object states
@@ -173,6 +174,7 @@ def capture_images_without_context(
         rgb_img_resp = name_to_response[camera_name]
         depth_img_resp = name_to_response[RGB_TO_DEPTH_CAMERAS[camera_name]]
         rgb_img = _image_response_to_image(rgb_img_resp)
+        rgb_img = ndimage.rotate(rgb_img, ROTATION_ANGLE[camera_name])
         depth_img = _image_response_to_image(depth_img_resp)
         # # Create transform.
         # camera_tform_body = get_a_tform_b(