def run_samples(n):
net = net6_c.NetSix_C()
path = '/media/1tb/Izzy/nets/net6_05-11-2016_12h09m12s.ckpt'
sess = net.load(path)
bc = BinaryCamera('./meta.txt')
bc.open()
for i in range(4):
bc.read_frame()
num_samples = n
samples = []
images = []
for i in range(num_samples):
print i
try:
while True:
frame = bc.read_frame()
frame = inputdata.im2tensor(frame, channels=3)
cv2.imshow('preview', frame)
cv2.waitKey(30)
except:
pass
frame = bc.read_frame()
frame = similarity.color(frame)
images.append(frame)
print "Saved sample"
np.save('samples_images.npy', images)
"""
from gripper.TurnTableControl import *
from gripper.PyControl import *
from gripper.xboxController import *
from pipeline.bincam import BinaryCamera
from options import Options
from lfd import LFD
import argparse
ap = argparse.ArgumentParser()
ap.add_argument('-s', '--show', required=False, action='store_true')
args = vars(ap.parse_args())
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = Options()
options.show = args['show']
options.record = False
t = TurnTableControl(
) # the com number may need to be changed. Default of com7 is used
izzy = PyControl(115200, .04, [0, 0, 0, 0, 0], [0, 0, 0])
# same with this
c = XboxController([
options.scales[0], 155, options.scales[1], 155, options.scales[2],
options.scales[3]
])
from pipeline.bincam import BinaryCamera
import cv2
import time
import numpy as np
from Net.tensor import inputdata
from edgeRICam import getTemplates, processFrame, findInitialMatch, traceObj, updateMatch
bc = BinaryCamera("./meta.txt")
bc.open()
frame = bc.read_frame()
#store processed templates; list of lists with various rotations of each template
filtTemplates = getTemplates()
sampleTemps = filtTemplates[0]
filtFrame = processFrame(frame)
pos, foundTemp = findInitialMatch(filtFrame, sampleTemps)
out = traceObj(frame, pos, foundTemp)
cv2.imshow("camera", out)
print("initial match found- press any key to begin")
cv2.waitKey(5000)
try:
while True:
frame = bc.read_frame()
filtFrame = processFrame(frame)
pos, foundTemp = updateMatch(pos, frame, sampleTemps)
out = traceObj(frame, pos, foundTemp)
cv2.imshow("camera",out)
cv2.waitKey(250)
except KeyboardInterrupt:
pass
Comment or uncomment "options.record = True"
"""
from gripper.TurnTableControl import *
from gripper.PyControl import *
from gripper.xboxController import *
from pipeline.bincam import BinaryCamera
from options import Options
from lfd import LFD
import argparse
ap = argparse.ArgumentParser()
ap.add_argument('-s', '--show', required=False, action='store_true')
args = vars(ap.parse_args())
bincam = BinaryCamera('./meta.txt')
bincam.open()
options = Options()
options.show = args['show']
options.record = False
t = TurnTableControl() # the com number may need to be changed. Default of com7 is used
izzy = PyControl(115200, .04, [0,0,0,0,0],[0,0,0]); # same with this
c = XboxController([options.scales[0],155,options.scales[1],155,options.scales[2],options.scales[3]])
izzy.stop()
#izzy.gotoState(None, .1, None, None, None, None])
from Net.tensor import tensornet, net2
from pipeline.bincam import BinaryCamera
from options import Options
import cv2
import numpy as np
bc = BinaryCamera('./meta.txt')
bc.open()
options = Options()
options.show = True
options.record = False
tfnet = net2.NetTwo()
sess = tfnet.load(var_path=options.tf_dir + 'net2/net2_01-21-2016_02h14m08s.ckpt')
im = bc.read_binary_frame(show=options.show, record=False)
im = np.reshape(im, (125, 125, 1))
print(tfnet.output(sess, im))
sess.close()
sess = tfnet.load(var_path=options.tf_dir + 'net2/net2_01-21-2016_02h14m08s.ckpt')
print(tfnet.output(sess, im))
sess.close()
from pipeline.bincam import BinaryCamera
import cv2
import numpy as np
from Net.tensor import inputdata, net4
bc = BinaryCamera('./meta.txt')
bc.open()
frame = bc.read_frame()
net_path = '/media/1tb/Izzy/nets/net4_02-17-2016_19h07m23s.ckpt'
#vc = cv2.VideoCapture(0)
#rval, frame = vc.read()
tf_net = net4.NetFour()
tf_net_path = net_path
sess = tf_net.load(var_path=tf_net_path)
while True:
frame = bc.read_frame()
img = cv2.resize(frame.copy(), (250, 250))
img = np.reshape(img, (250, 250, 3))
cv2.imwrite("test.jpg", img.copy())
img_jpg = cv2.imread("test.jpg", 1)
not_saved = tf_net.output(sess, img, channels=3)
saved = tf_net.output(sess, img, channels=3)
print "NOT SAVED ", not_saved
print "SAVED ", saved
from pipeline.bincam import BinaryCamera
import cv2
import time
from options import Options
from Net.tensor import inputdata
bc = BinaryCamera("./meta.txt")
bc.open()
frame = bc.read_frame()
frames = []
fourcc = cv2.cv.CV_FOURCC(*'mp4v')
writer = cv2.VideoWriter("hardware_reset.mov", fourcc, 10.0, (420,420))
try:
while True:
frame = bc.read_frame()
frame = inputdata.im2tensor(frame, channels=3)
cv2.imshow("camera",frame)
cv2.waitKey(30)
frames.append(frame)
#time.sleep(0.08)
except KeyboardInterrupt:
pass
#for frame in frames:
# writer.write(frame)
#writer.release()
i += 1
print "saved to: ", rollout_path
if __name__ == '__main__':
parser = argparse.ArgumentParser()
parser.add_argument("-e", "--experiment", type=str,
help="run experiment, will prompt for name")
args = parser.parse_args()
if args.experiment:
person = args.experiment
else:
person = None
options = AMTOptions()
bc = BinaryCamera('./meta.txt')
bc.open()
izzy = DexRobotZeke()
izzy._zeke.steady(False)
# t = DexRobotTurntable()
t = None
template_file = open(options.templates_dir + '/saved_template_paths.txt', 'r')
c = XboxController([options.scales[0],155,options.scales[1],155,options.scales[2],options.scales[3]])
return_to_start(izzy)
while True:
print "Waiting for keypress ('q' -> quit, 'r' -> rollout, 'u' -> update weights, 't' -> test, 'd' -> demonstrate, 'c' -> compile train/test sets, 'p' -> run on previous template, 'l' -> run templates saved in 'last_templates'): "
char = getch()
if char == 'q':