def get_grip_CIFAR_gui(cfg_path):
from ketisdk.gui.gui import GUI, GuiModule
module = GuiModule(GripCifar10DMaker, name='Grip CIFAR', cfg_path=cfg_path)
GUI(title='MAKE GRIP CIFAR DATA', modules=[
module,
])
def demo_module_combine():
class ImRot(DetGuiObj):
def gui_process_single(self,
rgbd,
method_ind=0,
filename='unnamed',
disp_mode='rgb'):
if method_ind == 0:
# out = rotate(rgbd.rgb,angle=45)
rotation_matrix = cv2.getRotationMatrix2D(
(rgbd.width / 2, rgbd.height / 2), 45, 1)
out = cv2.warpAffine(rgbd.rgb, rotation_matrix,
(rgbd.width, rgbd.height))
# out = rotate(rgbd.rgb, angle=45, reshape=False, order=3)
ret = {'im': out}
return ret
class ImScale(DetGuiObj):
def gui_process_single(self,
rgbd,
method_ind=0,
filename='unnamed',
disp_mode='rgb'):
if method_ind == 0:
out = cv2.resize(rgbd.rgb,
dsize=(200, 200),
interpolation=cv2.INTER_CUBIC)
ret = {'im': out}
return ret
class ImGray(DetGuiObj):
def gui_process_single(self,
rgbd,
method_ind=0,
filename='unnamed',
disp_mode='rgb'):
if method_ind == 0:
out = cv2.cvtColor(rgbd.rgb, cv2.COLOR_RGB2GRAY)
ret = {'im': out}
return ret
# Define modules
rot_module = GuiModule(ImRot, name='Im Rotator', short_name='Rot')
scale_module = GuiModule(ImScale, name='Im Scale', short_name='Scl')
gray_module = GuiModule(ImGray, name='Im Grayer', short_name='Gry')
# # define input sources
# scale_module.input_sources=[rot_module.short_name, gray_module.short_name]
# gray_module.input_sources=[scale_module.short_name, rot_module.short_name]
# define processes
# process0 = GuiProcess(gui_modules=[rot_module, scale_module],name='rot->scale', ask_next=False)
# process1 = GuiProcess(gui_modules=[rot_module, scale_module, gray_module],name='rot->scale->gray')
GUI(
title='Image Process Moudle Combine',
modules=[rot_module, scale_module, gray_module] +
get_realsense_modules(),
# processes=[process0,process1]
)
def demo_grip_3finger():
from kpick.processing.grip_3fingers import ThreeFingerGraspGui
from ketisdk.gui.gui import GUI, GuiModule
from ketisdk.sensor.realsense_sensor import get_realsense_modules
from ketisdk.sensor.openni_sensor import get_openni_sensor_modules
detect_module = GuiModule(ThreeFingerGraspGui, name='3finger gripper',
cfg_path='configs/grip_3finger.cfg')
GUI(title='3 Finger Grasp Detection', modules=[detect_module]+get_realsense_modules()+get_openni_sensor_modules())
def demo_grip_gui():
from kpick.processing.grip_detection_v8 import GripGuiDetector
from ketisdk.sensor.realsense_sensor import get_realsense_modules
from ketisdk.sensor.openni_sensor import get_openni_sensor_modules
from ketisdk.gui.gui import GUI, GuiModule
cfg_path = 'configs/pick/grip_net.cfg'
detect_module = GuiModule(GripGuiDetector, type='grip_detector', name='Grip Detector',
category='detector', cfg_path=cfg_path, num_method=2)
GUI(title='Grip Detection GUI',
modules=[detect_module] + get_realsense_modules()+get_openni_sensor_modules(),
)
def demo_client_gui(host='localhost',port=8888):
class ClientGui(DetGuiObj, ClientThread):
def __init__(self, args=None, cfg_path=None):
DetGuiObj.__init__(self, args=args, cfg_path=cfg_path)
ClientThread.__init__(self, host=self.args.host, port=self.args.port)
def gui_process_single(self, rgbd, method_ind=0, filename='unnamed', disp_mode='rgb'):
return self.send_and_get_return({'rgb': rgbd.rgb, 'depth': rgbd.depth,
'bbox': rgbd.workspace.bbox, 'ws_pts': rgbd.workspace.pts, 'disp_mode': disp_mode})['im']
args = CFG()
args.host, args.port = host, port
client_module = GuiModule(ClientGui, type='client_gui', name='Client GUI', category='detector',
run_thread=True, args=args)
GUI(title='Client Gui', modules=[client_module,]+get_realsense_modules())
def demo_suction_gui(cfg_path):
from ketisdk.vision.detector.pick.suction.suction_detection import SuctionGuiDetector
from ketisdk.sensor.realsense_sensor import get_realsense_modules
from ketisdk.gui.gui import GUI, GuiModule
detect_module = GuiModule(SuctionGuiDetector,
type='suction_detector',
name='Suction Detector',
category='detector',
cfg_path=cfg_path,
num_method=6)
GUI(
title='Grip Detection GUI',
modules=[
detect_module,
] + get_realsense_modules(),
)
def demo_suction_gui():
from ketisdk.vision.detector.pick.suction_detection import SuctionGuiDetector
from ketisdk.sensor.realsense_sensor import get_realsense_modules
from ketisdk.sensor.openni_sensor import get_openni_sensor_modules
from ketisdk.gui.gui import GUI, GuiModule
from ketisdk.vision.detector.pick.grip_detection import GripGuiDetector
cfg_path = 'configs/pick/suction_net.cfg'
detect_module = GuiModule(SuctionGuiDetector, type='suction_detector', name='Suction Detector',
category='detector', cfg_path=cfg_path, num_method=6)
cfg_path = 'configs/pick/grip_net.cfg'
detect_module1 = GuiModule(GripGuiDetector, type='grip_detector', name='Grip Detector',
category='detector', cfg_path=cfg_path, num_method=6)
GUI(title='Grip Detection GUI',
modules=[detect_module,detect_module1] + get_realsense_modules() + get_openni_sensor_modules(),
)
def test_mmdet_gui(cfg_file, ckpt, run_realsense=False):
# detection module
args = CFG()
setattr(args, 'cfg_file', cfg_file)
setattr(args, 'ckpt', ckpt)
from ketisdk.gui.gui import GUI, GuiModule
module = GuiModule(MmdetDetectorGuiObj,
type='mmdetector',
category='detector',
args=args)
# realsense module
realsense_modules = []
if run_realsense:
from ketisdk.vision.sensor.realsense_sensor import get_realsense_modules
realsense_modules += get_realsense_modules()
#
GUI(title='Mmdetetion GUI', modules=[
module,
] + realsense_modules)
def run():
commands = [
'demo_gui', 'demo_vision', 'demo_robot', 'demo_calib', 'demo_workcell'
]
cmd_dict = ProcUtils().get_command_keys(commands)
key = input('select action: ')
input_command = cmd_dict[key]
if input_command == 'demo_gui':
from ketisdk.gui.gui import GUI
GUI()
return
if input_command == 'demo_vision':
from ketisdk.vision.samples.select_sample import run
if input_command == 'demo_robot':
from ketisdk.robot.samples.select_sample import run
if input_command == 'demo_calib':
from ketisdk.calib.samples.select_sample import run
if input_command == 'demo_workcell':
from ketisdk.workcell.samples.select_sample import run
run()
def run():
GUI(title='Realsense',
modules=get_realsense_modules() + get_openni_sensor_modules())
def run_realsense_gui():
GUI(title='Realsense', modules=get_realsense_modules())
try:
config = rs.config()
config.enable_device(detected_serial)
valid_serials.append(detected_serial)
except:
pass
print('{} {} realsense detected: {}'.format('+'*10, len(valid_serials), valid_serials))
return valid_serials
def get_realsense_modules():
RS_serials = get_valid_realsenses()
RS_modules = []
for j, serial in enumerate(RS_serials):
RS_modules.append(GuiModule(RSSensor, type='realsense', name='Realsense%d' % j, short_name='RS%d'%j, category='vision_sensor', serial=serial))
return RS_modules
def run_realsense_gui():
GUI(title='Realsense', modules=get_realsense_modules())
if __name__ == '__main__':
# cfg_path = 'configs/sensor/realsense.cfg'
# # cfg_path = 'configs/grasp_detection/grasp_v2.cfg'
# RSSensor(cfg_path=cfg_path).run()
cfg_path = 'configs/sensor/realsense.cfg'
GUI(modules=get_realsense_modules())