def grasp():
# Load image
logging.info('Loading image...')
pic = Image.open('rgb.png', 'r')
rgb = np.array(pic)
pic = Image.open('depth.png', 'r')
depth = np.expand_dims(np.array(pic), axis=2)
# Load Network
logging.info('Loading model...')
net = torch.load(args.network, map_location=torch.device('cpu'))
logging.info('Done')
# Get the compute device
device = get_device(False)
img_data = CameraData(include_depth=1, include_rgb=1)
x, depth_img, rgb_img = img_data.get_data(rgb=rgb, depth=depth)
with torch.no_grad():
xc = x.to(device)
pred = net.predict(xc)
q_img, ang_img, width_img = post_process_output(
pred['pos'], pred['cos'], pred['sin'], pred['width'])
if args.save:
save_results(rgb_img=img_data.get_rgb(rgb, False),
depth_img=np.squeeze(img_data.get_depth(depth)),
grasp_q_img=q_img,
grasp_angle_img=ang_img,
no_grasps=args.n_grasps,
grasp_width_img=width_img)
else:
fig = plt.figure(figsize=(12, 3))
gs = plot_results(fig=fig,
rgb_img=img_data.get_rgb(rgb, False),
grasp_q_img=q_img,
grasp_angle_img=ang_img,
no_grasps=args.n_grasps,
grasp_width_img=width_img)
fig.savefig('img_result.png')
def predict_grasp_angle(network, rgb_path, depth_path):
#args = parse_args()
#network = "trained-models/cornell-randsplit-rgbd-grconvnet3-drop1-ch16/epoch_30_iou_0.97"
#rgb_path = "C:/Users/yashs/OneDrive/Desktop/PS simulation/rgbd_images/color8.jpeg"
#depth_path = "C:/Users/yashs/OneDrive/Desktop/PS simulation/rgbd_images/depth8.jpeg"
use_depth = 1
use_rgb = 1
n_grasps = 1
save = 0
force_cpu = False
# Load image
logging.info('Loading image...')
pic = Image.open(rgb_path, 'r')
rgb = np.array(pic)
pic = Image.open(depth_path, 'r')
depth = np.expand_dims(np.array(pic), axis=2)
# Load Network
logging.info('Loading model...')
net = torch.load(network,map_location=torch.device('cpu'))
logging.info('Done')
# Get the compute device
device = get_device(force_cpu)
img_data = CameraData(include_depth=use_depth, include_rgb=use_rgb)
x, depth_img, rgb_img = img_data.get_data(rgb=rgb, depth=depth)
with torch.no_grad():
xc = x.to(device)
pred = net.predict(xc)
q_img, ang_img, width_img = post_process_output(pred['pos'], pred['cos'], pred['sin'], pred['width'])
#print(pred['pos'].size())
#print(pred['pos'])
#print(pred['cos'])
#print(pred['sin'])
#print(pred['width'])
if save:
save_results(
rgb_img=img_data.get_rgb(rgb, False),
depth_img=np.squeeze(img_data.get_depth(depth)),
grasp_q_img=q_img,
grasp_angle_img=ang_img,
no_grasps=n_grasps,
grasp_width_img=width_img
)
else:
fig = plt.figure(figsize=(10, 10))
gs=plot_results(fig=fig,
rgb_img=img_data.get_rgb(rgb, False),
grasp_q_img=q_img,
grasp_angle_img=ang_img,
no_grasps=n_grasps,
grasp_width_img=width_img)
fig.savefig('img_result.pdf')
for g in gs:
print(g.center)
print(g.angle)
print(g.length)
print(g.width)
return gs
#predict_grasp_angle("trained-models/cornell-randsplit-rgbd-grconvnet3-drop1-ch16/epoch_notbest_17_iou_0.00", "C:/Users/yashs/OneDrive/Desktop/PS simulation/rgbd_images/color8.png", "C:/Users/yashs/OneDrive/Desktop/PS simulation/rgbd_images/depth8.png")
if args.jacquard_output:
grasps = grasp.detect_grasps(q_img,
ang_img,
width_img=width_img,
no_grasps=1)
with open(jo_fn, 'a') as f:
for g in grasps:
f.write(test_data.dataset.get_jname(didx) + '\n')
f.write(g.to_jacquard(scale=1024 / 300) + '\n')
if args.vis:
save_results(
rgb_img=test_data.dataset.get_rgb(didx,
rot,
zoom,
normalise=False),
depth_img=test_data.dataset.get_depth(didx, rot, zoom),
grasp_q_img=q_img,
grasp_angle_img=ang_img,
no_grasps=args.n_grasps,
grasp_width_img=width_img)
avg_time = (time.time() - start_time) / len(test_data)
logging.info('Average evaluation time per image: {}ms'.format(
avg_time * 1000))
if args.iou_eval:
logging.info('IOU Results: %d/%d = %f' %
(results['correct'], results['correct'] +
results['failed'], results['correct'] /
(results['correct'] + results['failed'])))
device = get_device(args.force_cpu)
img_data = CameraData(include_depth=args.use_depth,
include_rgb=args.use_rgb)
x, depth_img, rgb_img = img_data.get_data(rgb=rgb, depth=depth)
with torch.no_grad():
xc = x.to(device)
pred = net.predict(xc)
q_img, ang_img, width_img = post_process_output(
pred['pos'], pred['cos'], pred['sin'], pred['width'])
if args.save:
save_results(rgb_img=img_data.get_rgb(rgb, False),
depth_img=np.squeeze(img_data.get_depth(depth)),
grasp_q_img=q_img,
grasp_angle_img=ang_img,
no_grasps=args.n_grasps,
grasp_width_img=width_img)
else:
fig = plt.figure(figsize=(10, 10))
plot_results(fig=fig,
rgb_img=img_data.get_rgb(rgb, False),
grasp_q_img=q_img,
grasp_angle_img=ang_img,
no_grasps=args.n_grasps,
grasp_width_img=width_img)
fig.savefig('img_result.pdf')