def instruction_obj():
return fsm.Instruction(name='test_inst',
audio='test_audio',
image='test_image'.encode('utf-8'),
video='test_video'.encode('utf-8'))
def build_sandwich_fsm():
# change data_dir, proto_path, model_path and labels below according to Antti's caffe model
data_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),
'../../data/sandwich-model')
#img_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'images_feedback')
labels = [
"tomato", "cheese", "full", "ham", "lettuce", "cucumber", "half",
"hamwrong", "bread"
]
proc = processor_zoo.FasterRCNNOpenCVProcessor(
proto_path=os.path.join(data_dir, 'faster_rcnn_test.pt'),
model_path=os.path.join(data_dir, 'model.caffemodel'),
labels=labels)
common_processor = fsm.Processor(callable_obj=proc)
st_start = fsm.State(name='start', processors=[common_processor])
st_bread = fsm.State(name='bread', processors=[common_processor])
st_ham = fsm.State(name='ham', processors=[common_processor])
st_lettuce = fsm.State(name='lettuce', processors=[common_processor])
st_end = fsm.State(name='end', processors=[common_processor])
# fill in transitions
st_start.transitions.append(
fsm.Transition(
predicates=[
fsm.TransitionPredicate(
partial_obj=partial(predicate_zoo.always))
],
instruction=fsm.Instruction(
audio='Now put a piece of bread on the table.'
#image=_load_image_bytes(os.path.join(img_dir, 'bread.jpeg'))
),
next_state=st_bread))
st_bread.transitions.append(
fsm.Transition(
predicates=[
fsm.TransitionPredicate(partial_obj=partial(
predicate_zoo.has_obj_cls, cls_name='bread'))
],
instruction=fsm.Instruction(
audio='Now put a piece of ham on the bread.'
#image=_load_image_bytes(os.path.join(img_dir, 'ham.jpeg'))
),
next_state=st_ham))
st_ham.transitions.append(
fsm.Transition(
predicates=[
fsm.TransitionPredicate(partial_obj=partial(
predicate_zoo.has_obj_cls, cls_name='ham'))
],
instruction=fsm.Instruction(
audio='Now put a piece of lettuce on the ham.'
#image=_load_image_bytes(os.path.join(img_dir, 'lettuce.jpeg'))
),
next_state=st_lettuce))
st_lettuce.transitions.append(
fsm.Transition(predicates=[
fsm.TransitionPredicate(partial_obj=partial(
predicate_zoo.has_obj_cls, cls_name='lettuce'))
],
instruction=fsm.Instruction(
audio='Congratulations! You have finished!'),
next_state=st_end))
return st_start