fixed PZ's resize function

perception/vis/vis.py

@@ -52,7 +52,6 @@ def main():
                                     sep='')
                 img = img.reshape(dframe.canvas.get_width_height()[::-1] + (3,))
                 img = cv.cvtColor(img, cv.COLOR_RGB2BGR)
-                img = cv.resize(img, (frame.shape[1], frame.shape[0]))
                 debug_frames[i] = img
 
         to_show = window_builder.display(debug_frames)

perception/vis/window_builder.py

@@ -7,12 +7,12 @@ def nothing(x):
 	pass
 
 class Visualizer:
-	def __init__(self, vars: Dict[str, Tuple[Tuple[int, int], int]]):
-		self.variables = vars.keys()
+	def __init__(self, kwargs: Dict[str, Tuple[Tuple[int, int], int]]):
+		self.variables = kwargs.keys()
 		cv.namedWindow('Debug Frames')
-		for name, info in vars.items():
-			range, default_val = info
-			low_range, high_range = range
+		for name, info in kwargs.items():
+			slider_range, default_val = info
+			low_range, high_range = slider_range
 			cv.createTrackbar(name, 'Debug Frames', low_range, high_range, nothing)
 			cv.setTrackbarPos(name, 'Debug Frames', default_val)
 
@@ -24,10 +24,23 @@ def three_stack(self, frames: List[np.ndarray]) -> List[np.ndarray]:
 			newLst.append((frame))
 		return newLst
 
+	# set the first frame as the standard dimension, resize every frame after
+	def reshape(self, frames: List[np.ndarray]) -> List[np.ndarray]:
+		newLst = []
+		img = frames[0]
+		height = img.shape[0]
+		width = img.shape[1]
+		dim = (width, height)
+		for frame in frames:
+			if frame.shape[0] != height or frame.shape[1] != width:
+				frame = cv.resize(frame, dim, interpolation=cv.INTER_AREA)
+			newLst.append(frame)
+		return newLst
+
 	def display(self, frames: List[np.ndarray]) -> np.ndarray:
 		num_frames = len(frames)
 		assert (num_frames > 0 and num_frames <= 9), 'Invalid number of frames!'
-		frames = self.three_stack(frames)
+		frames = self.reshape(self.three_stack(frames))
 
 		columns = math.ceil(num_frames/math.sqrt(num_frames))
 		rows = math.ceil(num_frames/columns)
@@ -42,7 +55,7 @@ def display(self, frames: List[np.ndarray]) -> np.ndarray:
 					this_row = np.hstack((this_row, to_add))
 				else:
 					this_row = np.hstack((this_row, np.zeros(frames[0].shape, dtype=np.uint8)))
-			if type(to_show) != int:
+			if not isinstance(to_show, int):
 				to_show = np.vstack((to_show, this_row))
 			else:
 				to_show = this_row