WIP: adjustments made for testing in Chris's home

.gitignore

@@ -162,3 +162,8 @@ cython_debug/
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
+
+# Vim stuff
+*.swp
+*.swn
+*.swo

send_d405_images.py

@@ -30,6 +30,17 @@ def autoAdjustments_with_convertScaleAbs(img):
     return new_img
 ###########################
 
+
+def adjust_gamma(image, gamma=1.0):
+    # build a lookup table mapping the pixel values [0, 255] to
+    # their adjusted gamma values
+    # NOTE: this code is from perplexity
+    invGamma = 1.0 / gamma
+    table = np.array([((i / 255.0) ** invGamma) * 255 for i in np.arange(0, 256)]).astype("uint8")
+
+    # apply gamma correction using the lookup table
+    return cv2.LUT(image, table)
+
 
 def main(use_remote_computer, exposure):
     try: 
@@ -95,6 +106,8 @@ def main(use_remote_computer, exposure):
             depth_image = np.asanyarray(depth_frame.get_data())
             color_image = np.asanyarray(color_frame.get_data())
 
+            color_image = adjust_gamma(color_image, 2)
+
             brighten_image = False
             if brighten_image: 
                 color_image = autoAdjustments_with_convertScaleAbs(color_image)

yolo_networking.py

@@ -1,7 +1,9 @@
 
 # Set these values for your network
-robot_ip = 'stretch-se3-####'
-remote_computer_ip = 'MACHINE_NAME_HERE'
+#robot_ip = 'stretch-se3-####'
+#remote_computer_ip = 'MACHINE_NAME_HERE'
+robot_ip = '192.168.1.15'
+remote_computer_ip = '192.168.1.10'
 
 # Set these to your preferred port numbers
 # hello d405 => 4ello d405 => 4405