import urx
import pickle
import numpy as np
import argparse
import utils
from cam_tool import cam_tool
from pyquaternion import Quaternion
parser = argparse.ArgumentParser()
parser.add_argument('--data_dir',
type=str,
default='/home/tidyboy/calibration/ext_data/')
parser.add_argument('--cam_type', type=str)
args = parser.parse_args()
utils.create_muldir(args.data_dir, args.data_dir + '/images',
args.data_dir + '/poses')
#data_dir = '/home/tidyboy/ARAICodes/catkin_ws/src/robot_cal_tools/rct_examples/data/target_6x7_0/'
if args.cam_type == 'sony' or args.cam_type == 'both':
static_cam = cam_tool('sony')
if args.cam_type == 'rs' or args.cam_type == 'both':
wrist_cam = cam_tool('rs')
robot = urx.Robot("192.168.1.109")
pic_id = 0
initialized = False
starttime = datetime.datetime.now()
nexttime = starttime + datetime.timedelta(seconds=5)
images = utils.find_images_in_dir(filename)
imgs, imgpoints = utils.find_imagepoints_from_images(images, args.w, args.h) # 2d points in image plane.
objpoints = utils.generate_objpoints(len(imgpoints), args.w, args.h, args.size) # 3d point in real world space
imgpoints = np.array([imgpoints[i] for i in imgpoints])
cv2.destroyAllWindows()
print (imgs[0].shape[1], imgs[0].shape[0])
ret, mtx, dist, rvecs, tvecs = cv2.calibrateCamera(objpoints, imgpoints, (imgs[0].shape[1], imgs[0].shape[0]), None, None)
print(ret)
print(mtx)
print(dist)
print(rvecs)
print(tvecs)
utils.create_muldir('results', 'results/intrinsic', 'results/intrinsic/%s'%args.cam)
pickle.dump(np.array(ret), open('results/intrinsic/%s/ret.pkl'%args.cam, 'wb'))
pickle.dump(np.array(mtx), open('results/intrinsic/%s/mtx.pkl'%args.cam, 'wb'))
pickle.dump(np.array(dist), open('results/intrinsic/%s/dist.pkl'%args.cam, 'wb'))
pickle.dump(np.array(rvecs), open('results/intrinsic/%s/rvecs.pkl'%args.cam, 'wb'))
pickle.dump(np.array(tvecs), open('results/intrinsic/%s/tvecs.pkl'%args.cam, 'wb'))
cam.exit()
for img_fname in glob.glob('%s_*.jpg'%filename):
os.remove(img_fname)
from cam_tool import cam_tool
from pyquaternion import Quaternion
parser = argparse.ArgumentParser()
parser.add_argument('--data_dir', type=str, default='ext_data/')
parser.add_argument('--cam', type=str, help="cameras to make data pairs with. one of ['static', 'wrist', 'both']")
parser.add_argument('--static_cam_model', type=str, default='sony')
parser.add_argument('--wrist_cam_model', type=str, default='rs')
parser.add_argument('--auto', type=int, default = 0)
parser.add_argument('--num_pic', type=int, default=50, help="number of pictures to take")
parser.add_argument('--period', type=float, default=0.5, help="period between which pictures would be taken")
args = parser.parse_args()
utils.create_muldir(args.data_dir, args.data_dir + '/images', args.data_dir + '/poses',\
args.data_dir + '/images/' + args.cam, args.data_dir + '/poses/' + args.cam)
#data_dir = '/home/tidyboy/ARAICodes/catkin_ws/src/robot_cal_tools/rct_examples/data/target_6x7_0/'
static_on = (args.cam == 'static' or args.cam == 'both')
wrist_on = (args.cam == 'wrist' or args.cam == 'both')
if static_on:
static_cam = cam_tool(args.static_cam_model)
if wrist_on:
wrist_cam = cam_tool(args.wrist_cam_model)
robot = urx.Robot("192.168.1.109")
pic_id = 0
initialized = False
from Bauhausbreak import BHB_Environment
from Racetrack import RT_Environment
from MCTS_agent import MCTS_agent
import utils
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("--task", default='BHB', type=str)
parser.add_argument("--size", default=8, help="environment size", type=int)
args = parser.parse_args()
if __name__ == '__main__':
name_format = utils.NameFormat('size')
FILE_ID = name_format.get_id_from_args(args)
RESULT_DIR = '/home/yskim5892/DQL_results/%s/' % args.task
LOG_DIR = RESULT_DIR + '/log/%s/' % FILE_ID
utils.create_muldir(LOG_DIR)
if args.task == 'BHB':
args.print_ep_period = 50
BHB_env = BHB_Environment(args.size)
agent = MCTS_agent([args.size, args.size, 16], args.size, args,
LOG_DIR)
agent.run(BHB_env)