├── Hardware
├── Electrical
│ ├── LED Driver
│ │ ├── LED Driver - Schematic.pdf
│ │ ├── LED Driver-B_Mask.gbr
│ │ ├── LED Driver-B_Paste.gbr
│ │ ├── LED Driver-B_SilkS.gbr
│ │ ├── LED Driver-Bottom.gbr
│ │ ├── LED Driver-Edge_Cuts.gbr
│ │ ├── LED Driver-F_Mask.gbr
│ │ ├── LED Driver-F_Paste.gbr
│ │ ├── LED Driver-F_SilkS.gbr
│ │ ├── LED Driver-Top.gbr
│ │ ├── LED Driver-bottom-pos.csv
│ │ ├── LED Driver-top-pos.csv
│ │ ├── LED Driver.drl
│ │ ├── LED Driver.kicad_pcb
│ │ ├── LED Driver.pro
│ │ └── fp-info-cache
│ └── LED Harness
│ │ ├── GREEN
│ │ ├── LED_Harness_3x2_GREEN-B_Cu.gbr
│ │ ├── LED_Harness_3x2_GREEN-B_Mask.gbr
│ │ ├── LED_Harness_3x2_GREEN-B_Paste.gbr
│ │ ├── LED_Harness_3x2_GREEN-B_SilkS.gbr
│ │ ├── LED_Harness_3x2_GREEN-Edge_Cuts.gbr
│ │ ├── LED_Harness_3x2_GREEN-F_Cu.gbr
│ │ ├── LED_Harness_3x2_GREEN-F_Mask.gbr
│ │ ├── LED_Harness_3x2_GREEN-F_Paste.gbr
│ │ ├── LED_Harness_3x2_GREEN-F_SilkS.gbr
│ │ ├── LED_Harness_3x2_GREEN-bottom-pos.csv
│ │ ├── LED_Harness_3x2_GREEN-top-pos.csv
│ │ ├── LED_Harness_3x2_GREEN.drl
│ │ ├── LED_Harness_3x2_GREEN.kicad_pcb
│ │ └── _autosave-LED_Harness_3x2_GREEN.kicad_pcb
│ │ └── RED+BLUE
│ │ ├── LED_Harness_3x2_RED+BLUE-B_Cu.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-B_Mask.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-B_Paste.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-B_SilkS.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-Edge_Cuts.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-F_Cu.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-F_Mask.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-F_Paste.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-F_SilkS.gbr
│ │ ├── LED_Harness_3x2_RED+BLUE-bottom-pos.csv
│ │ ├── LED_Harness_3x2_RED+BLUE-top-pos.csv
│ │ ├── LED_Harness_3x2_RED+BLUE.drl
│ │ └── LED_Harness_3x2_RED+BLUE.kicad_pcb
├── GelSlim Hardware Quick Start Tutorial.pdf
├── GelSlim Quick Start Tutorial-Updated.pdf
├── Mechanical
│ ├── Elastomer
│ │ ├── 92095A216_BUTTON HEAD HEX DRIVE SCREW.step
│ │ ├── 94545A225_18-8 SS WING NUTS.step
│ │ ├── cutting_template.step
│ │ ├── mold_back.step
│ │ └── mold_front.step
│ ├── Fasteners
│ │ ├── 6659K650_OIL-EMBEDDED FLANGED SLEEVE BEARING.step
│ │ ├── 91698A204_METRIC 18-8 SS FLAT HEAD PHIL MACHINE SCREW.step
│ │ ├── 94180A307_HEAT-SET INSERTS FOR PLASTICS.step
│ │ └── McMasterCarr_Order.PNG
│ ├── Finger
│ │ ├── Robtiq 2F-85
│ │ │ ├── STEP
│ │ │ │ ├── finger_back.step
│ │ │ │ ├── finger_body.step
│ │ │ │ └── finger_tip.step
│ │ │ └── STL
│ │ │ │ ├── finger_back.stl
│ │ │ │ ├── finger_body.stl
│ │ │ │ └── finger_tip.stl
│ │ └── Weiss WSG-32
│ │ │ ├── STEP
│ │ │ ├── finger_back.step
│ │ │ ├── finger_body.step
│ │ │ └── finger_tip.step
│ │ │ └── STL
│ │ │ ├── finger_back.stl
│ │ │ ├── finger_body.stl
│ │ │ └── finger_tip.stl
│ ├── Shaping Lens
│ │ └── shaping_lens.step
│ └── exploded_assembly.step
└── README.md
├── LICENSE
├── Ordering
├── LED_Driver_DigiKey_Quote.csv
├── LED_Driver_Digikey_Quote.pdf
├── LED_Harness_Mouser_Quote.csv
└── LED_Harness_Mouser_Quote.pdf
├── README.md
├── Simulation and Optimization
├── Results
│ └── README.txt
└── Settings
│ └── README.txt
├── Software
├── GUI
│ ├── GelSlim
│ │ ├── GelSlim.sh
│ │ ├── ROS.sh
│ │ ├── abe_corr.npz
│ │ ├── calibration.py
│ │ ├── calibration.pyc
│ │ ├── camera.sh
│ │ ├── depth_realtime.py
│ │ ├── fast_poisson.py
│ │ ├── fast_poisson.pyc
│ │ ├── gelsight_show_image.py
│ │ ├── gui.py
│ │ ├── gui.pyc
│ │ ├── img_processor.py
│ │ ├── load
│ │ │ ├── arp_cache.txt
│ │ │ ├── count_map.npy
│ │ │ ├── count_map_3.npy
│ │ │ ├── raspberry_new.launch
│ │ │ ├── suction_env.sh
│ │ │ ├── table_3.npy
│ │ │ └── table_3_smooth.npy
│ │ ├── raspi_connect.sh
│ │ ├── reboot.sh
│ │ ├── recon_jpg.py
│ │ ├── reconfigure.sh
│ │ ├── reconstruction
│ │ │ ├── images
│ │ │ │ ├── reconstruct_0.jpg
│ │ │ │ ├── reconstruct_1.jpg
│ │ │ │ ├── reconstruct_10.jpg
│ │ │ │ ├── reconstruct_2.jpg
│ │ │ │ ├── reconstruct_3.jpg
│ │ │ │ ├── reconstruct_5.jpg
│ │ │ │ ├── reconstruct_6.jpg
│ │ │ │ ├── reconstruct_7.jpg
│ │ │ │ ├── reconstruct_8.jpg
│ │ │ │ ├── reconstruct_9.jpg
│ │ │ │ ├── sample.zip
│ │ │ │ └── updated_reconstruction.zip
│ │ │ └── plots
│ │ │ │ ├── Figure_1-1.png
│ │ │ │ ├── Figure_1.png
│ │ │ │ ├── sample_plot.png
│ │ │ │ └── sample_realtime_depth.mp4
│ │ ├── slip_detector_both.py
│ │ ├── test_data
│ │ │ ├── ref.jpg
│ │ │ ├── sample.zip
│ │ │ ├── sample_10.jpg
│ │ │ ├── sample_13.jpg
│ │ │ ├── sample_14.jpg
│ │ │ ├── sample_15.jpg
│ │ │ ├── sample_17.jpg
│ │ │ ├── sample_18.jpg
│ │ │ ├── sample_19.jpg
│ │ │ ├── sample_20.jpg
│ │ │ ├── sample_21.jpg
│ │ │ ├── sample_22.jpg
│ │ │ ├── sample_23.jpg
│ │ │ ├── sample_25.jpg
│ │ │ ├── sample_26.jpg
│ │ │ ├── sample_27.jpg
│ │ │ ├── sample_28.jpg
│ │ │ ├── sample_29.jpg
│ │ │ ├── sample_3.jpg
│ │ │ ├── sample_30.jpg
│ │ │ ├── sample_31.jpg
│ │ │ ├── sample_32.jpg
│ │ │ ├── sample_33.jpg
│ │ │ ├── sample_35.jpg
│ │ │ ├── sample_37.jpg
│ │ │ ├── sample_38.jpg
│ │ │ ├── sample_39.jpg
│ │ │ ├── sample_4.jpg
│ │ │ ├── sample_40.jpg
│ │ │ ├── sample_41.jpg
│ │ │ ├── sample_42.jpg
│ │ │ ├── sample_43.jpg
│ │ │ ├── sample_44.jpg
│ │ │ ├── sample_46.jpg
│ │ │ ├── sample_48.jpg
│ │ │ ├── sample_49.jpg
│ │ │ ├── sample_5.jpg
│ │ │ ├── sample_6.jpg
│ │ │ ├── sample_7.jpg
│ │ │ ├── sample_8.jpg
│ │ │ ├── sample_9.jpg
│ │ │ └── updated_calib.zip
│ │ └── test_poisson.py
│ └── README.md
├── README.txt
└── Raspberry Pi
│ └── README.txt
├── _layouts
└── default.html
├── docs
├── extrinsic.mp4
├── gelslim.mp4
├── gelslim1.PNG
├── gelslim2.png
├── index.html
├── logo.png
└── style.css
└── src
└── images
├── alcohol.JPG
├── body_1.JPG
├── calibration.png
├── cover_plate.JPG
├── electrical
├── camera.JPG
├── connectors_and_adapters.JPG
├── led_driver.JPG
└── led_harness.JPG
├── flex_pcb.JPG
├── hot_plate.JPG
├── knife.JPG
├── mechanical
├── body.JPG
├── elastomer.JPG
├── fasteners.JPG
└── shaping_lens.JPG
├── more_details
├── contributing.jpg
├── electronics.jpg
├── hot_plate.JPG
├── known_issues.jpg
├── known_issues.png
├── mechanical-01.jpg
├── mechanical.jpg
└── screwdrivers.JPG
├── pop_primer.JPG
├── psilpoxy.JPG
├── screwdrivers.JPG
├── software
├── calibration.jpg
├── calibration.png
├── calibration.svg
├── dependencies.jpg
├── dependencies.png
├── gui.jpg
├── gui.png
├── raspberrypi_pcb.jpg
├── raspberrypi_pcb.png
└── raspberrypi_pcb.svg
├── solder_paste.JPG
├── step_by_step
├── 3d_printing.jpg
├── 3d_printing.png
├── 3d_printing.svg
├── assembly.JPG
├── elastomer_fabrication.JPG
└── pcb.JPG
└── tweezers.JPG
/Hardware/Electrical/LED Driver/LED Driver - Schematic.pdf:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Hardware/Electrical/LED Driver/LED Driver - Schematic.pdf
--------------------------------------------------------------------------------
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1 | Ref,Val,Package,PosX,PosY,Rot,Side
2 |
--------------------------------------------------------------------------------
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--------------------------------------------------------------------------------
1 | Ref,Val,Package,PosX,PosY,Rot,Side
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30 |
--------------------------------------------------------------------------------
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51 | X143416020Y-64965580D03*
52 | X145514060Y-64980820D03*
53 | X114498120Y-123913900D03*
54 | X112400080Y-123898660D03*
55 | X116019580Y-121100850D03*
56 | X118117620Y-121116090D03*
57 | X118122700Y-118308120D03*
58 | X116024660Y-118292880D03*
59 | X118122700Y-123926600D03*
60 | X116024660Y-123911360D03*
61 | D11*
62 | X134170800Y-80289400D03*
63 | X134670800Y-80289400D03*
64 | X135170800Y-80289400D03*
65 | X135670800Y-80289400D03*
66 | D10*
67 | X112395000Y-121086880D03*
68 | X114493040Y-121102120D03*
69 | X114495580Y-118295420D03*
70 | X112397540Y-118280180D03*
71 | D11*
72 | X113427000Y-103022400D03*
73 | X113927000Y-103022400D03*
74 | X114427000Y-103022400D03*
75 | X114927000Y-103022400D03*
76 | D10*
77 | X133073140Y-65018920D03*
78 | X130975100Y-65003680D03*
79 | X130980180Y-62195710D03*
80 | X133078220Y-62210950D03*
81 | X133073140Y-59400440D03*
82 | X130975100Y-59385200D03*
83 | X136700260Y-65031620D03*
84 | X134602220Y-65016380D03*
85 | X134604760Y-62209680D03*
86 | X136702800Y-62224920D03*
87 | X136697720Y-59413140D03*
88 | X134599680Y-59397900D03*
89 | D12*
90 | X158072050Y-122408002D03*
91 | X162306000Y-122402600D03*
92 | X131953000Y-66929000D03*
93 | X133078220Y-62210950D03*
94 | X140462000Y-60629800D03*
95 | X144695950Y-60624398D03*
96 | X131757650Y-60725998D03*
97 | X135991600Y-60731400D03*
98 | X117340150Y-122585802D03*
99 | X113106200Y-122580400D03*
100 | X131024521Y-66557609D03*
101 | X130980180Y-62195710D03*
102 | D13*
103 | X139741400Y-92861600D02*
104 | X139623800Y-92979200D01*
105 | X139623800Y-101269800D02*
106 | X139609608Y-101283992D01*
107 | X139663392Y-101283992D02*
108 | X139674085Y-101294685D01*
109 | X157082856Y-106459179D02*
110 | X157075790Y-106417192D01*
111 | X141853920Y-59296300D02*
112 | X143377920Y-59296300D01*
113 | X143377920Y-59296300D02*
114 | X143380460Y-59298840D01*
115 | X143374110Y-62108080D02*
116 | X143375380Y-62109350D01*
117 | X141848840Y-64912240D02*
118 | X141851380Y-64914780D01*
119 | X143380460Y-64917320D02*
120 | X143380460Y-62114430D01*
121 | X141848840Y-62108080D02*
122 | X141848840Y-62696806D01*
123 | X141848840Y-62108080D02*
124 | X143374110Y-62108080D01*
125 | X143375380Y-62109350D02*
126 | X143375380Y-59303920D01*
127 | X141848840Y-62108080D02*
128 | X141848840Y-64912240D01*
129 | X141851380Y-64914780D02*
130 | X143377920Y-64914780D01*
131 | X141853920Y-59296300D02*
132 | X141853920Y-62103000D01*
133 | X143380460Y-62114430D02*
134 | X143375380Y-62109350D01*
135 | X143377920Y-64914780D02*
136 | X143380460Y-64917320D01*
137 | X143375380Y-59303920D02*
138 | X143380460Y-59298840D01*
139 | X141853920Y-62103000D02*
140 | X141848840Y-62108080D01*
141 | X161526600Y-102920800D02*
142 | X161526600Y-83989800D01*
143 | X145685144Y-76573221D02*
144 | X145692210Y-76615208D01*
145 | X152997366Y-81915000D02*
146 | X153090602Y-81915000D01*
147 | X143380460Y-64917320D02*
148 | X143380460Y-65292320D01*
149 | X162026600Y-90170800D02*
150 | X162026600Y-102920800D01*
151 | X145468381Y-76356458D02*
152 | X145685144Y-76573221D01*
153 | X162001200Y-83515200D02*
154 | X162026600Y-90170800D01*
155 | X143380460Y-65292320D02*
156 | X145468380Y-67380240D01*
157 | X153363327Y-82187725D02*
158 | X161319725Y-82187725D01*
159 | X153090602Y-81915000D02*
160 | X153363327Y-82187725D01*
161 | X152653186Y-81570820D02*
162 | X152997366Y-81915000D01*
163 | X145692210Y-76615208D02*
164 | X150471481Y-80017635D01*
165 | X161526600Y-83989800D02*
166 | X162001200Y-83515200D01*
167 | X150471481Y-80017635D02*
168 | X152653186Y-81570820D01*
169 | X162026600Y-82894600D02*
170 | X162001200Y-83515200D01*
171 | X145468380Y-67380240D02*
172 | X145468381Y-76356458D01*
173 | X161319725Y-82187725D02*
174 | X162026600Y-82894600D01*
175 | X162306000Y-122402600D02*
176 | X162306000Y-123014740D01*
177 | X162306000Y-123014740D02*
178 | X163012120Y-123720860D01*
179 | X149499555Y-101575967D02*
180 | X156662954Y-106675687D01*
181 | X139674085Y-101294685D02*
182 | X149218273Y-101294685D01*
183 | X139741400Y-80111600D02*
184 | X139741400Y-92861600D01*
185 | X157294580Y-120938290D02*
186 | X157294580Y-123743720D01*
187 | X156849610Y-116586000D02*
188 | X157120180Y-116586000D01*
189 | X162300598Y-122408002D02*
190 | X162306000Y-122402600D01*
191 | X157289500Y-118130320D02*
192 | X157289500Y-120933210D01*
193 | X139609608Y-101283992D02*
194 | X139663392Y-101283992D01*
195 | X163012120Y-120914160D02*
196 | X163017200Y-120909080D01*
197 | X157289500Y-120933210D02*
198 | X157294580Y-120938290D01*
199 | X149218273Y-101294685D02*
200 | X149499555Y-101575967D01*
201 | X157289500Y-123190552D02*
202 | X158072050Y-122408002D01*
203 | X157294580Y-123743720D02*
204 | X157289500Y-123748800D01*
205 | X163012120Y-123720860D02*
206 | X163012120Y-123327484D01*
207 | X157289500Y-116755320D02*
208 | X157289500Y-118130320D01*
209 | X156849610Y-106862343D02*
210 | X156849610Y-116586000D01*
211 | X139623800Y-92979200D02*
212 | X139623800Y-101269800D01*
213 | X140241400Y-80111600D02*
214 | X140241400Y-99901408D01*
215 | X163014660Y-118102380D02*
216 | X163014660Y-120906540D01*
217 | X163014660Y-120906540D02*
218 | X163017200Y-120909080D01*
219 | X163012120Y-123720860D02*
220 | X163012120Y-120914160D01*
221 | X157289500Y-123748800D02*
222 | X157289500Y-123190552D01*
223 | X157120180Y-116586000D02*
224 | X157289500Y-116755320D01*
225 | X140241400Y-99901408D02*
226 | X139609608Y-100533200D01*
227 | X156662954Y-106675687D02*
228 | X156849610Y-106862343D01*
229 | X133075680Y-59397900D02*
230 | X133073140Y-59400440D01*
231 | X134599680Y-59397900D02*
232 | X133075680Y-59397900D01*
233 | X133079490Y-62209680D02*
234 | X133078220Y-62210950D01*
235 | X134604760Y-62209680D02*
236 | X133079490Y-62209680D01*
237 | X133075680Y-65016380D02*
238 | X133073140Y-65018920D01*
239 | X134602220Y-65016380D02*
240 | X133075680Y-65016380D01*
241 | X133073140Y-62216030D02*
242 | X133078220Y-62210950D01*
243 | X133073140Y-65018920D02*
244 | X133073140Y-62216030D01*
245 | X133078220Y-59405520D02*
246 | X133073140Y-59400440D01*
247 | X133078220Y-62210950D02*
248 | X133078220Y-59405520D01*
249 | X134599680Y-62204600D02*
250 | X134604760Y-62209680D01*
251 | X134599680Y-59397900D02*
252 | X134599680Y-62204600D01*
253 | X134604760Y-65013840D02*
254 | X134602220Y-65016380D01*
255 | X134604760Y-62209680D02*
256 | X134604760Y-65013840D01*
257 | X134604760Y-62209680D02*
258 | X134604760Y-62798406D01*
259 | X114427000Y-90272400D02*
260 | X114427000Y-103022400D01*
261 | X115133875Y-82289325D02*
262 | X114427000Y-82996200D01*
263 | X130768456Y-76674821D02*
264 | X130761390Y-76716808D01*
265 | X130985219Y-76458058D02*
266 | X130768456Y-76674821D01*
267 | X130761390Y-76716808D02*
268 | X125982119Y-80119235D01*
269 | X130985220Y-67481840D02*
270 | X130985219Y-76458058D01*
271 | X123456234Y-82016600D02*
272 | X123362998Y-82016600D01*
273 | X125982119Y-80119235D02*
274 | X123800414Y-81672420D01*
275 | X123800414Y-81672420D02*
276 | X123456234Y-82016600D01*
277 | X123090273Y-82289325D02*
278 | X115133875Y-82289325D01*
279 | X133073140Y-65018920D02*
280 | X133073140Y-65393920D01*
281 | X123362998Y-82016600D02*
282 | X123090273Y-82289325D01*
283 | X114927000Y-84091400D02*
284 | X114452400Y-83616800D01*
285 | X114927000Y-103022400D02*
286 | X114927000Y-84091400D01*
287 | X114427000Y-82996200D02*
288 | X114452400Y-83616800D01*
289 | X114452400Y-83616800D02*
290 | X114427000Y-90272400D01*
291 | X114493040Y-118297960D02*
292 | X114495580Y-118295420D01*
293 | X114498120Y-121107200D02*
294 | X114493040Y-121102120D01*
295 | X134170800Y-99220400D02*
296 | X134645400Y-99695000D01*
297 | X118336410Y-106594992D02*
298 | X123115681Y-103192565D01*
299 | X114498120Y-123913900D02*
300 | X116022120Y-123913900D01*
301 | X116024660Y-121095770D02*
302 | X116019580Y-121100850D01*
303 | X116019580Y-123906280D02*
304 | X116024660Y-123911360D01*
305 | X114493040Y-121102120D02*
306 | X114493040Y-120513394D01*
307 | X114493040Y-121102120D02*
308 | X116018310Y-121102120D01*
309 | X116024660Y-118292880D02*
310 | X116024660Y-121095770D01*
311 | X116022120Y-118295420D02*
312 | X116024660Y-118292880D01*
313 | X134670800Y-93039400D02*
314 | X134670800Y-80289400D01*
315 | X118112580Y-115829960D02*
316 | X118112581Y-106853742D01*
317 | X118112581Y-106853742D02*
318 | X118329344Y-106636979D01*
319 | X116022120Y-123913900D02*
320 | X116024660Y-123911360D01*
321 | X123115681Y-103192565D02*
322 | X125297386Y-101639380D01*
323 | X114493040Y-121102120D02*
324 | X114493040Y-118297960D01*
325 | X116018310Y-121102120D02*
326 | X116019580Y-121100850D01*
327 | X114498120Y-123913900D02*
328 | X114498120Y-121107200D01*
329 | X125297386Y-101639380D02*
330 | X125641566Y-101295200D01*
331 | X116019580Y-121100850D02*
332 | X116019580Y-123906280D01*
333 | X133963925Y-101022475D02*
334 | X134670800Y-100315600D01*
335 | X126007527Y-101022475D02*
336 | X133963925Y-101022475D01*
337 | X118329344Y-106636979D02*
338 | X118336410Y-106594992D01*
339 | X125734802Y-101295200D02*
340 | X126007527Y-101022475D01*
341 | X134170800Y-80289400D02*
342 | X134170800Y-99220400D01*
343 | X134670800Y-100315600D02*
344 | X134645400Y-99695000D01*
345 | X116024660Y-117917880D02*
346 | X118112580Y-115829960D01*
347 | X114495580Y-118295420D02*
348 | X116022120Y-118295420D01*
349 | X134645400Y-99695000D02*
350 | X134670800Y-93039400D01*
351 | X125641566Y-101295200D02*
352 | X125734802Y-101295200D01*
353 | X116024660Y-118292880D02*
354 | X116024660Y-117917880D01*
355 | X130985220Y-67481840D02*
356 | X131400160Y-67481840D01*
357 | X131400160Y-67481840D02*
358 | X131953000Y-66929000D01*
359 | X145473420Y-62094110D02*
360 | X145473420Y-59288680D01*
361 | X139753340Y-64930020D02*
362 | X139753340Y-62125860D01*
363 | X139755880Y-59311540D02*
364 | X139755880Y-59704916D01*
365 | X145478500Y-64902080D02*
366 | X145478500Y-62099190D01*
367 | X139755880Y-62118240D02*
368 | X139750800Y-62123320D01*
369 | X139753340Y-62125860D02*
370 | X139750800Y-62123320D01*
371 | X145473420Y-59288680D02*
372 | X145478500Y-59283600D01*
373 | X139755880Y-59311540D02*
374 | X139755880Y-62118240D01*
375 | X145478500Y-62099190D02*
376 | X145473420Y-62094110D01*
377 | X145478500Y-59283600D02*
378 | X145478500Y-59841848D01*
379 | X145918390Y-66446400D02*
380 | X145647820Y-66446400D01*
381 | X163144200Y-90053200D02*
382 | X163144200Y-81762600D01*
383 | X163026600Y-90170800D02*
384 | X163144200Y-90053200D01*
385 | X163158392Y-81748408D02*
386 | X163104608Y-81748408D01*
387 | X145478500Y-66277080D02*
388 | X145478500Y-64902080D01*
389 | X145647820Y-66446400D02*
390 | X145478500Y-66277080D01*
391 | X163144200Y-81762600D02*
392 | X163158392Y-81748408D01*
393 | X153549727Y-81737715D02*
394 | X153268445Y-81456433D01*
395 | X140467402Y-60624398D02*
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397 | X145478500Y-59841848D02*
398 | X144695950Y-60624398D01*
399 | X140462000Y-60629800D02*
400 | X140462000Y-60017660D01*
401 | X140462000Y-60017660D02*
402 | X139755880Y-59311540D01*
403 | X145918390Y-76170057D02*
404 | X145918390Y-66446400D01*
405 | X153268445Y-81456433D02*
406 | X146105046Y-76356713D01*
407 | X163104608Y-81748408D02*
408 | X163093915Y-81737715D01*
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410 | X162526600Y-83130992D01*
411 | X163093915Y-81737715D02*
412 | X153549727Y-81737715D01*
413 | X163026600Y-102920800D02*
414 | X163026600Y-90170800D01*
415 | X162526600Y-83130992D02*
416 | X163158392Y-82499200D01*
417 | X146105046Y-76356713D02*
418 | X145918390Y-76170057D01*
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1 | Ref,Val,Package,PosX,PosY,Rot,Side
2 |
--------------------------------------------------------------------------------
/Hardware/Electrical/LED Harness/RED+BLUE/LED_Harness_3x2_RED+BLUE-top-pos.csv:
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3 | "J1"," ","FFC_Male_1x02-1MP_P0.50m",140.487400,-104.597200,0.000000,top
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30 |
--------------------------------------------------------------------------------
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1 | M48
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/Hardware/Mechanical/Elastomer/cutting_template.step:
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1 | ISO-10303-21;
2 | HEADER;
3 | /* Generated by software containing ST-Developer
4 | * from STEP Tools, Inc. (www.steptools.com)
5 | */
6 | /* OPTION: using custom renumber hook */
7 |
8 | FILE_DESCRIPTION(
9 | /* description */ ('STEP AP214'),
10 | /* implementation_level */ '2;1');
11 |
12 | FILE_NAME(
13 | /* name */ '6053769552977113f60a320c',
14 | /* time_stamp */ '2021-03-18T15:49:41+00:00',
15 | /* author */ (''),
16 | /* organization */ (''),
17 | /* preprocessor_version */ 'ST-DEVELOPER v18.1',
18 | /* originating_system */ ' ',
19 | /* authorisation */ ' ');
20 |
21 | FILE_SCHEMA (('AUTOMOTIVE_DESIGN {1 0 10303 214 3 1 1}'));
22 | ENDSEC;
23 |
24 | DATA;
25 | #10=PROPERTY_DEFINITION_REPRESENTATION(#14,#12);
26 | #11=PROPERTY_DEFINITION_REPRESENTATION(#15,#13);
27 | #12=REPRESENTATION('',(#16),#85);
28 | #13=REPRESENTATION('',(#17),#85);
29 | #14=PROPERTY_DEFINITION('pmi validation property','',#90);
30 | #15=PROPERTY_DEFINITION('pmi validation property','',#90);
31 | #16=VALUE_REPRESENTATION_ITEM('number of annotations',COUNT_MEASURE(0.));
32 | #17=VALUE_REPRESENTATION_ITEM('number of views',COUNT_MEASURE(0.));
33 | #18=SHAPE_REPRESENTATION_RELATIONSHIP('','',#57,#19);
34 | #19=ADVANCED_BREP_SHAPE_REPRESENTATION('',(#55),#85);
35 | #20=PLANE('',#62);
36 | #21=PLANE('',#63);
37 | #22=ORIENTED_EDGE('',*,*,#26,.T.);
38 | #23=ORIENTED_EDGE('',*,*,#27,.F.);
39 | #24=ORIENTED_EDGE('',*,*,#26,.F.);
40 | #25=ORIENTED_EDGE('',*,*,#27,.T.);
41 | #26=EDGE_CURVE('',#28,#28,#30,.T.);
42 | #27=EDGE_CURVE('',#29,#29,#31,.T.);
43 | #28=VERTEX_POINT('',#79);
44 | #29=VERTEX_POINT('',#81);
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46 | #31=CIRCLE('',#61,0.0160729880916987);
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49 | #34=EDGE_LOOP('',(#24));
50 | #35=EDGE_LOOP('',(#25));
51 | #36=FACE_BOUND('',#32,.T.);
52 | #37=FACE_BOUND('',#33,.T.);
53 | #38=FACE_BOUND('',#34,.T.);
54 | #39=FACE_BOUND('',#35,.T.);
55 | #40=CYLINDRICAL_SURFACE('',#59,0.0160729880916987);
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57 | #42=ADVANCED_FACE('',(#38),#20,.F.);
58 | #43=ADVANCED_FACE('',(#39),#21,.T.);
59 | #44=CLOSED_SHELL('',(#41,#42,#43));
60 | #45=STYLED_ITEM('',(#46),#55);
61 | #46=PRESENTATION_STYLE_ASSIGNMENT((#47));
62 | #47=SURFACE_STYLE_USAGE(.BOTH.,#48);
63 | #48=SURFACE_SIDE_STYLE('',(#51,#49));
64 | #49=SURFACE_STYLE_RENDERING_WITH_PROPERTIES(.CONSTANT_SHADING.,#54,(#50));
65 | #50=SURFACE_STYLE_TRANSPARENT(0.490196078431373);
66 | #51=SURFACE_STYLE_FILL_AREA(#52);
67 | #52=FILL_AREA_STYLE('',(#53));
68 | #53=FILL_AREA_STYLE_COLOUR('',#54);
69 | #54=COLOUR_RGB('',0.901960784313726,0.901960784313726,0.901960784313726);
70 | #55=MANIFOLD_SOLID_BREP('Gel',#44);
71 | #56=SHAPE_DEFINITION_REPRESENTATION(#90,#57);
72 | #57=SHAPE_REPRESENTATION('Gel',(#58),#85);
73 | #58=AXIS2_PLACEMENT_3D('',#76,#64,#65);
74 | #59=AXIS2_PLACEMENT_3D('',#77,#66,#67);
75 | #60=AXIS2_PLACEMENT_3D('',#78,#68,#69);
76 | #61=AXIS2_PLACEMENT_3D('',#80,#70,#71);
77 | #62=AXIS2_PLACEMENT_3D('',#82,#72,#73);
78 | #63=AXIS2_PLACEMENT_3D('',#83,#74,#75);
79 | #64=DIRECTION('',(0.,0.,1.));
80 | #65=DIRECTION('',(1.,0.,0.));
81 | #66=DIRECTION('',(0.,-1.,0.));
82 | #67=DIRECTION('',(0.,0.,-1.));
83 | #68=DIRECTION('',(0.,-1.,0.));
84 | #69=DIRECTION('',(0.,0.,-1.));
85 | #70=DIRECTION('',(0.,-1.,0.));
86 | #71=DIRECTION('',(0.,0.,-1.));
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/Hardware/README.md:
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1 | # CAD Models
2 | Public model files of the electrical and mechanical hardware can be found at the following [link](https://cad.onshape.com/documents/d349cbe923c6f7dbdb5a9266/w/20eed945a1a4fb3729cc1f11/e/83841e7147a77c529f63497d)
3 | or can be downloaded individually from the github repo folders.
4 |
5 | # Raspicam Spectral Response
6 | Optical transmission information for the Raspicam's OV5647 sensor can be found [here](https://github.com/scivision/raspicam-spectra/).
7 |
8 | # LED Datasheets
9 | Datasheets for LED selection can be found on the manufacturers [website](https://www.osram.com/appsn/ProductSelector/?lang=en&refinementList%5Bhbc%5D%5B0%5D=TOPLED&refinementList%5Bhbc%5D%5B1%5D=Mini%20TOPLED&refinementList%5Bhbc%5D%5B2%5D=Power%20TOPLED&refinementList%5Bcolor_emulti%5D%5B0%5D=Blue%20%28450-480%20nm%29&refinementList%5Bcolor_emulti%5D%5B1%5D=True%20Green%20%28513-545%20nm%29&refinementList%5Bcolor_emulti%5D%5B2%5D=Pure%20Green%20%28554-566%20nm%29&refinementList%5Bcolor_emulti%5D%5B3%5D=Red%20%28612-630%20nm%29&refinementList%5Bcolor_emulti%5D%5B4%5D=Super%20Red%20%28627-639%20nm%29&refinementList%5Bcolor_emulti%5D%5B5%5D=Deep%20Blue%20%28439-461%20nm%29&page=1&range%5Bbeam_angle_keyword%5D%5Bmin%5D=50&range%5Bbeam_angle_keyword%5D%5Bmax%5D=70).
10 |
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/Ordering/LED_Driver_DigiKey_Quote.csv:
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1 | Digi-Key Part Number,Manufacturer,Manufacturer Part Number,Description,Customer Reference,Quantity 1,Price,Quantity 2,Price,Quantity 3,Price,Stock Status,Mfg Std Lead Time,Comments,RoHS Status,Lead Free Status,REACH Status
2 | 541-0.0XCT-ND,VISHAY DALE (VA),CRCW25120000Z0EG,RES SMD 0 OHM JUMPER 1W 2512,,1," 0.28000",10," 0.23400",100," 0.09100",IN STOCK,28 Weeks,Alternate Packaging Exists,ROHS3 Compliant,Lead free,Not Available
3 | 609-4616-1-ND,AMPHENOL FCI (VA),10118193-0001LF,CONN RCPT USB2.0 MICRO B SMD R/A,,1," 0.41000",10," 0.38800",100," 0.27100",IN STOCK,14 Weeks,Alternate Packaging Exists Import Tariff may apply to this part if shipping to the United States,RoHS Compliant,Lead free,Unaffected Jan-2021
4 | 255-5484-1-ND,PANASONIC ELECTRIC WORKS (VA),AYF530265T,CONN FPC 2POS 0.50MM R/A,,3," 1.52000",30," 1.29000",300," 1.06600",IN STOCK,10 Weeks,Alternate Packaging Exists,RoHS Compliant,Lead free,Not Available
5 | YAG5595CT-ND,YAGEO (VA),AC2512FK-0745R3L,RES SMD 45.3 OHM 1% 1W 2512,,2," 0.46000",20," 0.34400",200," 0.14500",IN STOCK,20 Weeks,Alternate Packaging Exists Import Tariff may apply to this part if shipping to the United States,ROHS3 Compliant,Lead free,Unaffected Jun-2020
6 | RMCF2512FT60R4CT-ND,STACKPOLE ELECTRONICS INC (VA),RMCF2512FT60R4,RES 60.4 OHM 1% 1W 2512,,1," 0.32000",10," 0.26900",100," 0.10500",IN STOCK,21 Weeks,Alternate Packaging Exists,ROHS3 Compliant,Lead free,Unaffected Jun-2020
7 |
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/Ordering/LED_Harness_Mouser_Quote.csv:
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1 | ,,,,,,,,,,
2 | ,,,,,,,,,,
3 | ,,,,,,,,,,
4 | ,,,,,,,,,,
5 | ,,,,,,,,,,
6 | SHOPPING CART,,,,,,,,,,
7 | This is not an invoice,,,,,,,,,,
8 | 18-Mar-21 11:27:07,,,,,,,,,,
9 | ,Mouser #,Mfr. #,Manufacturer,Customer #,Description,RoHS,Lifecycle,Order Qty.,Price (USD),Ext.: (USD)
10 | 1,720-LBT66GV2CAA7291,LB T66G-V2CA-59-Z484,Osram Opto Semiconductor,,Standard LEDs - SMD Blue TOPLED TF,RoHS Compliant,Obsolete,100,$-.--,$-.--
11 | 2,720-LTT66GCBEAA7293,LT T66G-CBEA-29-N424-20-R33-Z,Osram Opto Semiconductor,,Standard LEDs - SMD True Green TOPLED Black,RoHS Compliant,New Product,100,$0.324,$32.40
12 | 3,720-LRT66FAABB11Z,LR T66F-AABB-1-1-Z,Osram Opto Semiconductor,,Standard LEDs - SMD Red,RoHS Compliant,,100,$0.242,$24.20
13 | ,,,,,,,,,,
14 | ,,,,,,,,,,
15 | By submitting your order you agree to these terms and conditions.,,,,,,,,,Merchandise:,$56.60
16 | Prices are reflected at the date and time shown.,,,,,,,,,Shipping Charge:,$7.99
17 |
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/README.md:
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1 | # GelSlim 3.0
2 | **Note:** The MCube Lab at MIT has closed and no longer distributes pre-made sensors by mail upon request.
3 | Consider the latest version [GelSlim 4.0](https://www.mmintlab.com/research/gelslim-4-0/) at the University of Michigan's [MMint Lab](https://www.mmintlab.com/) for an easier to reproduce version of the sensor.
4 |
5 | ## Quick-Start
6 | Please follow the [Hardware Quick Start Guide](https://github.com/mcubelab/gelslim/blob/main/Hardware/GelSlim%20Quick%20Start%20Tutorial-Updated.pdf) instructions to build your own sensor. The step-by-step resources found below are in the process of being updated.
7 |
8 | ## Step-by-Step Instructions
9 | **Click on the pictures below for more information**
10 |
11 | | 3-D Printing | PCB Fabrication | Elastomer Fabrication | Assembly |
12 | |---|---|---|---|
13 | | ![]()
| 
| 
| 
|
14 |
15 | ## Mechanical
16 | | Elastomer | Fasteners | Body | Shaping Lens |
17 | |---|---|---|---|
18 | | 
| 
| 
| 
|
19 |
20 | ## Electrical
21 | | LED Driver | LED Harness | Camera | Connectors and Adapters |
22 | |---|---|---|---|
23 | | 
| 
| 
| 
|
24 |
25 | ## Software
26 | | Raspberry Pi | Dependencies | GUI | Calibration |
27 | |---|---|---|---|
28 | | 
| 
| 
| 
|
29 |
30 | ## More Details
31 | | Mechanical Tools and Consumables | Electronics Components and Tools | Known Issues | Contributing |
32 | |---|---|---|---|
33 | | 
| 
| 
| 
|
34 |
35 | ## More Information
36 | [GelSlim 3.0 - Webpage](https://ianhtaylor.net/gelslim-30)
37 | [GelSlim 3.0 - Paper](https://arxiv.org/abs/2103.12269)
38 | [GelSlim 3.0 - Demo](https://www.youtube.com/watch?v=Y10XN9byO0g)
39 | [MCube Lab - YouTube Channel](https://www.youtube.com/channel/UCMYUWZTFWZjj7pUc3UPUjig)
40 |
41 | ## Notice
42 | This repo is under construction, the following files and folders are not present.
43 | - src/images/step_by_step/3d_printing.jpg
44 | - Image links to and README documentation for root sub-folders
45 | - Step-by-step Instructions
46 | - Mechanical
47 | - Electrical
48 | - Software
49 | - More Details
50 | - /Simulation and Optimization/Results
51 | - /Simulation and Optimization/Settings
52 | - /Software/GUI
53 | - Tangential Force Calculation
54 | - Normal Force Calculation
55 |
56 | ## Authors
57 | Ian Taylor
58 |
59 | ## License
60 | These design files are licensed under CC-by-NC, as found in the [LICENSE](https://github.com/mcubelab/gelslim/blob/main/LICENSE) file.
61 |
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/Simulation and Optimization/Results/README.txt:
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1 | Results Table
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/Simulation and Optimization/Settings/README.txt:
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1 | Settings Table
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/Software/GUI/GelSlim/GelSlim.sh:
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1 | #!/bin/bash
2 |
3 | tab=" --tab"
4 | options=()
5 |
6 | cmds[1]="roscore"
7 | cmds[2]="bash raspi_connect.sh"
8 | #cmds[3]="rosrun rqt_reconfigure rqt_reconfigure"
9 |
10 | options1=(--tab -- "bash -c '${cmds[1]} ; bash'")
11 | options2=(--tab -- "bash -c '${cmds[2]} ; bash'")
12 | #options3=(--tab -e "bash -c '${cmds[3]} ; bash'")
13 |
14 | gnome-terminal "${options1[@]}"
15 | sleep 5
16 |
17 | gnome-terminal "${options2[@]}"
18 | sleep 10
19 |
20 | #gnome-terminal "${options3[@]}"
21 | #sleep 5
22 |
23 | exit 0
24 |
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/Software/GUI/GelSlim/ROS.sh:
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1 | #!/bin/bash
2 |
3 | tab=" --tab"
4 | options=()
5 |
6 | cmds[1]="roscore"
7 | cmds[2]="bash raspi_connect.sh"
8 | #cmds[3]="rosrun rqt_reconfigure rqt_reconfigure"
9 |
10 | options1=(--tab -e "bash -c '${cmds[1]} ; bash'")
11 | options2=(--tab -e "bash -c '${cmds[2]} ; bash'")
12 | #options3=(--tab -e "bash -c '${cmds[3]} ; bash'")
13 |
14 | gnome-terminal "${options1[@]}"
15 | sleep 5
16 |
17 | gnome-terminal "${options2[@]}"
18 | sleep 10
19 |
20 | #gnome-terminal "${options3[@]}"
21 | #sleep 5
22 |
23 | exit 0
24 |
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/Software/GUI/GelSlim/abe_corr.npz:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/abe_corr.npz
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/Software/GUI/GelSlim/calibration.pyc:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/calibration.pyc
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/Software/GUI/GelSlim/camera.sh:
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1 | #!/bin/bash
2 | echo -n '[INFO] Showing Camera Feed ...'
3 | python gelsight_show_image.py
4 |
5 |
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/Software/GUI/GelSlim/fast_poisson.py:
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1 | #!/usr/bin/env python2
2 | # -*- coding: utf-8 -*-
3 | """
4 | Created on Thu Oct 4 19:11:16 2018
5 |
6 | @author: siyuan
7 | """
8 | import numpy as np
9 | from scipy.fftpack import dst
10 | from scipy.fftpack import idst
11 | #import matplotlib.pyplot as plt
12 |
13 | def fast_poisson(gx,gy):
14 |
15 | # j = 1:ydim-1;
16 | # k = 1:xdim-1;
17 | #
18 | # % Laplacian
19 | # gyy(j+1,k) = gy(j+1,k) - gy(j,k);
20 | # gxx(j,k+1) = gx(j,k+1) - gx(j,k);
21 |
22 |
23 | m,n = gx.shape
24 | gxx = np.zeros((m,n))
25 | gyy = np.zeros((m,n))
26 | f = np.zeros((m,n))
27 | img = np.zeros((m,n))
28 | gyy[1:,:-1] = gy[1:,:-1] - gy[:-1,:-1]
29 | gxx[:-1,1:] = gx[:-1,1:] - gx[:-1,:-1]
30 | f = gxx + gyy
31 |
32 | f2 = f[1:-1,1:-1].copy()
33 |
34 | f_sinx = dst(f2,norm='ortho')
35 | f_sinxy = dst(f_sinx.T,norm='ortho').T
36 |
37 |
38 |
39 | x_mesh, y_mesh = np.meshgrid(range(n-2),range(m-2))
40 | x_mesh = x_mesh +1
41 | y_mesh = y_mesh +1
42 | denom = (2*np.cos(np.pi*x_mesh/(n-1))-2) + (2*np.cos(np.pi*y_mesh/(m-1))-2)
43 |
44 |
45 | f3 = f_sinxy/denom
46 | # plt.figure(10)
47 | # plt.imshow(denom)
48 | # plt.show()
49 | f_realx = idst(f3,norm='ortho')
50 | f_realxy = idst(f_realx.T,norm='ortho').T
51 | img[1:-1,1:-1] = f_realxy.copy()
52 | return img
53 |
54 | #%%
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/Software/GUI/GelSlim/fast_poisson.pyc:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/fast_poisson.pyc
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/Software/GUI/GelSlim/gelsight_show_image.py:
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1 | #!/usr/bin/env python
2 |
3 | from sensor_msgs.msg import CompressedImage
4 | import numpy as np
5 | import time
6 | import rospy, math, cv2, os
7 |
8 | global count
9 | count=0
10 | class slip_detection_reaction:
11 |
12 | def __init__(self):
13 |
14 | self.image_sub = rospy.Subscriber("/raspicam_node1/image/compressed",CompressedImage,self.call_back,queue_size = 1,buff_size=2**24)
15 |
16 | def rgb2gray(self,rgb):
17 | return np.dot(rgb[...,:3], [0.5, 0.5, 0.])
18 |
19 | def call_back(self,data):
20 | t = time.time()
21 | np_arr = np.fromstring(data.data, np.uint8)
22 |
23 |
24 |
25 | raw_imag = cv2.imdecode(np_arr, cv2.IMREAD_COLOR).astype(np.uint8)
26 |
27 | ab_array = np.load('abe_corr.npz')
28 | x_index = ab_array['x']
29 | y_index = ab_array['y']
30 | raw_imag = raw_imag[x_index, y_index, :]
31 |
32 | cv2.imshow('raw_image',raw_imag)
33 | #cv2.imshow('red',raw_imag[:,:,2])
34 | #cv2.imshow('green',raw_imag[:,:,1])
35 | #cv2.imshow('blue',raw_imag[:,:,0])
36 | cv2.waitKey(1) & 0xFF
37 |
38 | # if the `q` key was pressed, break from the loop
39 | if cv2.waitKey(1) & 0xFF == ord('q'):
40 | cv2.destroyAllWindows()
41 |
42 | def main():
43 | print("\n[INFO] Press Ctrl+C in terminal to exit camera live feed...")
44 | rospy.init_node('slip_detector', anonymous=True)
45 | while not rospy.is_shutdown():
46 |
47 | slip_detector = slip_detection_reaction()
48 | rospy.spin()
49 |
50 |
51 | if __name__ == "__main__":
52 | main()
53 |
54 | #%%
55 |
56 |
57 |
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/Software/GUI/GelSlim/gui.py:
--------------------------------------------------------------------------------
1 | from __future__ import print_function
2 | import tkSimpleDialog as simpledialog
3 | from Tkinter import *
4 | import Tkinter , Tkconstants, tkFileDialog
5 | import tkMessageBox as messagebox
6 | import os, signal, rosgraph, time, roswtf
7 | from os import path
8 | import socket
9 | import sys
10 | import fileinput
11 | import argparse
12 | from subprocess import Popen, PIPE
13 |
14 |
15 | root_calib= None
16 | root_recon= None
17 | filename = None
18 | tablename = None
19 | BallDiam = str(4.76)
20 | Pixdiam = str(80)
21 | local_ip = None
22 | raspi_ip = None
23 | res_w=str(427)
24 | res_h=str(320)
25 | ip_count=0
26 | ball_count=0
27 | funny=0
28 |
29 | ap = argparse.ArgumentParser()
30 | ap.add_argument("-a","--automatic", required=False, type=int, help="[1] find IP addresses automatically, [2] Manually input IP addresses.")
31 | args=vars(ap.parse_args())
32 |
33 |
34 |
35 | #CONNECT TO RASPBERRY PI (FINISHED)
36 | def Connect():
37 | global funny
38 | if rosgraph.is_master_online():
39 | print('[INFO] Raspberry Pi is already connected...')
40 | funny += 1
41 | if funny ==10 :
42 | print ("HA HA verrry funny...")
43 | if funny ==13:
44 | print ("why")
45 | if funny ==14:
46 | print ("are")
47 | if funny ==15:
48 | print ("you")
49 | if funny ==16:
50 | print ("so")
51 | if funny ==17:
52 | print ("disrespectful")
53 | if funny ==18:
54 | print ("?")
55 | if funny ==20:
56 | print ("Goodbye")
57 | on_closing()
58 | if funny ==25:
59 | print (":P")
60 | if funny ==30:
61 | os.system("rosnode kill --all")
62 | pid=os.fork()
63 | os.kill(pid,signal.SIGSTOP)
64 | root.destroy()
65 | os.system("pkill roscore")
66 | os.system("pkill ssh")
67 | os.system("pkill -n bash")
68 | os.system("pkill bash")
69 | exit()
70 | else:
71 | unconnected()
72 | #os.system("./camera.sh")
73 |
74 |
75 | #DISPLAY CAMERA FEED (FINISHED)
76 | def CameraFeed():
77 | if rosgraph.is_master_online():
78 | os.system("./camera.sh")
79 | else:
80 | unconnected()
81 | os.system("./camera.sh")
82 |
83 |
84 | #SENSOR CALIBRATION
85 | def Calibration():
86 | global root_calib
87 | try:
88 | root_calib.destroy()
89 | Calibration()
90 | except:
91 | root_calib = Tk()
92 | root_calib.title("GelSlim - Sensor Calibration")
93 | root_calib.geometry("500x250")
94 | W=59; H=2; d=50;
95 | y1=0; y2=y1+d; y3=y2+d; y4=y3+d; y5=y4+d;
96 | B1 = Button(root_calib, text="Reconfigure Camera Parameters",width=W, height=H, command =Reconfigure).place(x=0,y=y1)
97 | B2 = Button(root_calib, text="Capture New Calibration Data",width=W, height=H, command =capture_data).place(x=0,y=y2)
98 | B3 = Button(root_calib, text="Label Calibration Data",width=W, height=H, command =label_data).place(x=0,y=y3)
99 | B4 = Button(root_calib, text="Load Existing Calibration Table",width=W, height=H, command =load_data).place(x=0,y=y4)
100 | B5 = Button(root_calib, text="Change Calibration Ball Parameters",width=W, height=H, command =ball_param).place(x=0,y=y5)
101 | def Reconfigure():
102 | if rosgraph.is_master_online():
103 | print("[INFO] Opening rosqt_reconfigure...")
104 | os.system("./reconfigure.sh")
105 | os.system("./camera.sh")
106 | else:
107 | unconnected()
108 | print("[INFO] Opening rosqt_reconfigure...")
109 | os.system("./reconfigure.sh")
110 | os.system("./camera.sh")
111 | def capture_data():
112 | global image_num
113 | global root_calib
114 | if rosgraph.is_master_online():
115 | print('[INFO] Beginning data capture...')
116 | image_num = simpledialog.askstring('Calibration Image Count','Please input an integer valued number of calibration images to capture.')
117 | root_calib.destroy()
118 | os.system("python img_processor.py -i "+ image_num)
119 | else:
120 | print("[INFO] Connecting to Raspberry Pi...")
121 | os.system("./ROS.sh")
122 | print("[INFO] Connected to Raspberry Pi...")
123 | print('[INFO] Beginning data capture...')
124 | image_num = simpledialog.askstring('Calibration Image Count','Please input an integer valued number of calibration images to capture.')
125 | root_calib.destroy()
126 | os.system("python img_processor.py -i "+ image_num)
127 | #print("[INFO] Press Ctrl+C to exit")
128 | #Dialog box asking how many calibration photos to take
129 | #change calibration.py to require "enter" to move forward
130 | def label_data():
131 | global BallDiam
132 | global Pixdiam
133 | global root_calib
134 | root_calib.destroy()
135 | os.system("python calibration.py -d "+BallDiam+ " -p "+Pixdiam)
136 | def load_data():
137 | global tablename
138 | global root_calib
139 | global root_recon
140 | tablename = tkFileDialog.askopenfilename(initialdir = "./load",parent=root, title='Calibration File',filetypes=[("Table","*.npy")])
141 | if tablename:
142 | print("[INFO] Loaded Calibration Table...")
143 | if root_calib != None:
144 | root_calib.destroy()
145 | else:
146 | if root_calib != None:
147 | root_calib.destroy()
148 | else:
149 | root_recon.destroy()
150 | def ball_param():
151 | global root_calib
152 | global BallDiam
153 | global Pixdiam
154 | global ball_count
155 | ball_count+=1
156 | print('[INFO] Updating calibration ball parameters...')
157 | print('[INFO] To change default parameters edit gui.py lines 16-17')
158 | print('[INFO] Printing Current Parameters...')
159 | print('[INFO] Calibration Ball Diameter: '+str(BallDiam)+' mm')
160 | print('[INFO] Calibration Ball Diameter: '+str(Pixdiam)+' px')
161 | if ball_count<=1:
162 | BallDiam_new=simpledialog.askstring('self.BallDiam','Please input the diameter of the calibration ball in millimeters')
163 | if BallDiam_new == '' or BallDiam_new ==None:
164 | print('[INFO] Value update cancelled')
165 | print('[INFO] Calibration Ball Diameter: '+str(BallDiam)+' mm')
166 | else:
167 | BallDiam=BallDiam_new
168 | print('[INFO] Value update cancelled')
169 | print('[INFO] Calibration Ball Diameter: '+str(BallDiam)+' mm')
170 | Pixdiam_new=simpledialog.askstring('self.Pixmm','Please input the diameter of the calibration ball in pixels')
171 | if Pixdiam_new =='' or Pixdiam_new ==None:
172 | print('[INFO] Value update cancelled')
173 | print('[INFO] Calibration Ball Diameter: '+str(Pixdiam)+' px')
174 | else:
175 | Pixdiam=Pixdiam_new
176 | print('[INFO] Value update complete')
177 | print('[INFO] Calibration Ball Diameter: '+str(Pixdiam)+' px')
178 | print('[INFO] Parameter update complete...')
179 | try:
180 | ball_count=0
181 | root_calib.destroy()
182 | except:
183 | ball_count=0
184 | print('[INFO] Closing dialog windows...')
185 | else:
186 | print('[INFO] A dialog window is already open...')
187 |
188 | #3D RECONSTRUCTION
189 | def Reconstruction():
190 | global root_recon
191 | try:
192 | root_recon.destroy()
193 | Reconstruction()
194 | except:
195 | root_recon = Tk()
196 | root_recon.title("GelSlim - 3D Reconstruction")
197 | root_recon.geometry("500x150")
198 | W=59; H=2; d=50;
199 | y1=0; y2=y1+d; y3=y2+d; y4=y3+d
200 | B1 = Button(root_recon, text="Capture New Reconstruction Images",width=W, height=H, command =recon_cap).place(x=0,y=y1)
201 | B2 = Button(root_recon, text="Select a file to reconstruct",width=W, height=H, command =file_select).place(x=0,y=y2)
202 | B3 = Button(root_recon, text ="Realtime Depth Plot", width=W, height=H, command=realtime).place(x=0, y=y3)
203 | def recon_cap():
204 | global root_recon
205 | if rosgraph.is_master_online():
206 | print('[INFO] Beginning data capture...')
207 | root_recon.destroy()
208 | image_num = simpledialog.askstring('Reconstruction Image Count','Please input an integer valued number of reconstruction images to capture.')
209 | os.system("python recon_jpg.py -i "+ image_num)
210 | else:
211 | print("[INFO] Connecting to Raspberry Pi...")
212 | os.system("./ROS.sh")
213 | print("[INFO] Connected to Raspberry Pi...")
214 | print('[INFO] Beginning data capture...')
215 | root_recon.destroy()
216 | image_num = simpledialog.askstring('Reconstruction Image Count','Please input an integer valued number of reconstruction images to capture.')
217 | os.system("python recon_jpg.py -i "+ image_num)
218 | def file_select():
219 | global root_recon
220 | global filename
221 | global tablename
222 | if tablename !=None:
223 | filename = tkFileDialog.askopenfilename(initialdir = "./reconstruction/images/",parent=root,title='3D Reconstruction Image',filetypes=[("JPG Image","*.jpg")])
224 | if filename:
225 | print("[INFO] Plotting 3D Reconstruction...")
226 | exe_str=str("python test_poisson.py -n "+filename +" -c"+tablename +" -d "+BallDiam +" -p "+Pixdiam)
227 | root_recon.destroy()
228 | os.system(exe_str)
229 | else:
230 | root_recon.destroy()
231 | else:
232 | print("[INFO] Calibration Table is not loaded...")
233 | if path.exists("./load/table_3.npy"):
234 | tablename=("./load/table_3.npy")
235 | print("[INFO] Default Loading table_3.npy...")
236 | file_select()
237 | elif path.exists("./load/table_3_smooth.npy"):
238 | tablename =("./load/table_3_smooth.npy")
239 | print("[INFO] Default Loading table_3_smooth.npy...")
240 | file_select()
241 | else:
242 | load_data()
243 | file_select()
244 | def realtime():
245 | global tablename
246 | global root_recon
247 | if tablename != None:
248 | if rosgraph.is_master_online():
249 | root_recon.destroy()
250 | os.system("python depth_realtime.py -c "+tablename)
251 | else:
252 | print("[INFO] Connecting to Raspberry Pi...")
253 | os.system("./ROS.sh")
254 | print("[INFO] Connected to Raspberry Pi...")
255 | print("[INFO] Opening Realtime 3D Reconstruction...")
256 | os.system("python depth_realtime.py -c" +tablename)
257 | else:
258 | print("[INFO] Calibration Table is not loaded...")
259 | if path.exists("./load/table_3.npy"):
260 | tablename=("./load/table_3.npy")
261 | print("[INFO] Default Loading table_3.npy...")
262 | root_recon.destroy()
263 | realtime()
264 | elif path.exists("./load/table_3_smooth.npy"):
265 | tablename =("./load/table_3_smooth.npy")
266 | print("[INFO] Default Loading table_3_smooth.npy...")
267 | root_recon.destroy()
268 | realtime()
269 | else:
270 | load_data()
271 | root_recon.destroy()
272 | realtime()
273 |
274 |
275 | #INCIPIENT SLIP (FINISHED)
276 | def SlipDetector():
277 | if rosgraph.is_master_online():
278 | print("[INFO] Opening Slip Detector...")
279 | print("[INFO] Press Ctrl+C to exit")
280 | os.system("python slip_detector_both.py")
281 | else:
282 | print("[INFO] Connecting to Raspberry Pi...")
283 | os.system("./ROS.sh")
284 | print("[INFO] Connected to Raspberry Pi...")
285 | print("[INFO] Opening Slip Detector...")
286 | print("[INFO] Press Ctrl+C to exit")
287 | os.system("python slip_detector_both.py")
288 |
289 |
290 | #HELPER FUNCTIONS
291 | def unconnected():
292 | global local_ip
293 | global raspi_ip
294 | if local_ip != None and raspi_ip !=None:
295 | print('[INFO] Local IP Address : '+local_ip)
296 | print('[INFO] Raspberry Pi IP Address : ' +raspi_ip)
297 | print("[INFO] Setting Raspberry Pi IP Address...")
298 | file_data=('#!/bin/bash\ncd\nssh -tt raspi@'+raspi_ip+' << EOF\nroslaunch raspberry_new.launch\nEOF')
299 | read_obj =open('./raspi_connect.sh','w')
300 | read_obj.writelines(file_data)
301 | read_obj.close()
302 |
303 | read_obj=open('./reboot.sh','r')
304 | file_data_reboot=read_obj.readlines()
305 | file_data_reboot[4]=(('ssh -tt raspi@'+raspi_ip+' << EOF\n'))
306 | read_obj =open('./reboot.sh','w')
307 | read_obj.writelines(file_data_reboot)
308 | read_obj.close()
309 | print("[INFO] Connecting to Raspberry Pi...")
310 | launch_write()
311 | env_write()
312 | os.system("./ROS.sh")
313 | print("[INFO] Verifying Connection...")
314 | error_handler()
315 | elif local_ip != None and raspi_ip== None:
316 | print("[INFO] No Raspberry Pi Detected...")
317 | print("[INFO] Please try again or exit the program")
318 | elif local_ip == None and raspi_ip == None:
319 | host_name=socket.gethostname()
320 | local_ip=socket.gethostbyname(host_name)
321 | os.system(' nmap -sP 192.168.1.0/24')
322 | open('./load/arp_cache.txt','w').close()
323 | os.system("arp -a >>./load/arp_cache.txt")
324 | print("[INFO] Searching for Raspberry Pi...")
325 | with open('./load/arp_cache.txt','r') as read_obj:
326 | for line in read_obj:
327 | if 'raspi' in line:
328 | print("\n[INFO] Raspberyy Pi detected...")
329 | s=line
330 | raspi_ip=s[s.find('(')+1:s.find(')')]
331 | unconnected()
332 | def on_closing():
333 | if messagebox.askokcancel("Quit", "Do you want to quit?"):
334 | if rosgraph.is_master_online():
335 | os.system("rosnode kill --all")
336 | pid=os.fork()
337 | os.kill(pid,signal.SIGSTOP)
338 | root.destroy()
339 | os.system("pkill roscore")
340 | os.system("pkill ssh")
341 | os.system("pkill -n bash")
342 | os.system("pkill bash")
343 | exit()
344 | else:
345 | pid=os.fork()
346 | os.kill(pid,signal.SIGSTOP)
347 | root.destroy()
348 | os.system("pkill roscore")
349 | os.system("pkill ssh")
350 | os.system("pkill -n bash")
351 | os.system("pkill bash")
352 | exit()
353 | def flag():
354 | flag_auto='{}'.format(args["automatic"])
355 | global local_ip
356 | global raspi_ip
357 | #print (flag_auto)
358 | if flag_auto == '1':
359 | local_ip = None
360 | raspi_ip = None
361 | elif flag_auto =='2':
362 | local_ip = simpledialog.askstring('Local IP Address','Please input the Local IP Address')
363 | raspi_ip = simpledialog.askstring('Local IP Address','Please input the Raspberry Pi IP Address')
364 | else:
365 | local_ip = '192.168.1.83'
366 | raspi_ip = '192.168.1.219'
367 | print('[INFO] Default Local IP Address: '+local_ip)
368 | print('[INFO] Default Raspberry Pi Address: '+raspi_ip)
369 | print('[INFO] Change default IP Addresses in gui.py line 21-22')
370 | print('[INFO] gui.py -a 1 [Finds IP Addresses automatically]')
371 | print('[INFO] gui.py -a 2 [Set IP Addresses manually]')
372 | print('[INFO] gui.py -h [Help]')
373 | def error_handler():
374 | global ip_count
375 | try:
376 | time.sleep(10)
377 | master=rosgraph.Master("")
378 | master.lookupNode('raspicam_node1')
379 | print("[INFO] raspicam_node1 exists...")
380 | stdout = Popen('roswtf', shell=True, stdout=PIPE).stdout
381 | output = stdout.read()
382 | verify=(output.split("\n")[-2])
383 | sys.stdout.flush()
384 | if verify !='No errors or warnings':
385 | print("================================================================================\n")
386 | print("[INFO] ERROR: unable to communicate with raspicam_node1")
387 | raise Exception()
388 | else:
389 | print('[INFO] Node connection verified...')
390 | print('[INFO] Connected to Raspberry Pi...')
391 | except:
392 | print('[INFO] ERROR: unable to establish connection with Raspberry Pi...')
393 | print('[INFO] ERROR: connection timeout exception...')
394 | print('[INFO] Please see troubleshooting guide for further assistance...')
395 | print('[INFO] Forcing roscore Exit...')
396 | if ip_count ==3:
397 | print('[INFO] ERROR: unable to establish connection with Raspberry Pi...')
398 | print('[INFO] ERROR: connection timeout exception...')
399 | print('[INFO] Please see troubleshooting guide for further assistance...')
400 | print('[INFO] Forcing roscore Exit...')
401 | print('[INFO] ERROR: Boot Loop Exception...')
402 | disconnect()
403 | if rosgraph.is_master_online():
404 | ip_count+=1
405 | os.system("rosnode kill --all")
406 | pid=os.fork()
407 | os.kill(pid,signal.SIGSTOP)
408 | os.system("pkill roscore")
409 | os.system("pkill ssh")
410 | os.system("pkill -n bash")
411 | os.system("pkill bash")
412 | print("[INFO] Rebooting Raspberry Pi and re-trying connection...")
413 | print("[INFO] Waiting for reboot, this may take a minute...")
414 | os.system('./reboot.sh')
415 | for i in xrange(200,0,-1):
416 | line=('[INFO] Reboot Time Left: '+str(i)+' seconds ')
417 | print(line, end='\r')
418 | time.sleep(1)
419 | sys.stdout.flush()
420 | sys.stdout.flush()
421 | unconnected()
422 | else:
423 | pid=os.fork()
424 | os.kill(pid,signal.SIGSTOP)
425 | os.system("pkill roscore")
426 | os.system("pkill ssh")
427 | os.system("pkill -n bash")
428 | os.system("pkill bash")
429 | def launch_write():
430 | global res_w
431 | global res_h
432 | print('[INFO] Writing updated .launch file to Raspberry Pi...')
433 | read_obj=open('./load/raspberry_new.launch','r')
434 | file_data=read_obj.readlines()
435 | file_data[3]= '\n'
436 | file_data[23]=(' \n')
437 | file_data[24]=(' \n')
438 | print('[INFO] Camera Resolution set to '+res_w+'x'+res_h)
439 | #print(*file_data)
440 | read_obj =open('./load/raspberry_new.launch','w')
441 | read_obj.writelines(file_data)
442 | read_obj.close()
443 | command_str="scp ./load/raspberry_new.launch raspi@"+raspi_ip+":/home/raspi/"
444 | os.system(command_str)
445 | #os.system("exit")
446 | def env_write():
447 | global local_ip
448 | global raspi_ip
449 | print('[INFO] Writing updated environment file to Raspberry Pi...')
450 | read_obj=open('./load/suction_env.sh','r')
451 | file_data=read_obj.readlines()
452 | file_data[3]=("export ROS_MASTER_URI=http://"+local_ip+":11311/\n")
453 | file_data[4]=("export ROS_IP="+raspi_ip+"\n")
454 | file_data[5]=("export ROS_HOSTNAME="+raspi_ip+"\n")
455 | #print(*file_data)
456 | read_obj =open('./load/suction_env.sh','w')
457 | read_obj.writelines(file_data)
458 | read_obj.close()
459 | command_str=("scp ./load/suction_env.sh raspi@"+raspi_ip+":/home/raspi/")
460 | os.system(command_str)
461 | #os.system("exit")
462 | def disconnect():
463 | print('[INFO] Disconnecting from Raspberry Pi...')
464 | print('[INFO] Forcing roscore Exit...')
465 | if rosgraph.is_master_online():
466 | os.system("rosnode kill --all")
467 | pid=os.fork()
468 | os.kill(pid,signal.SIGSTOP)
469 | os.system("pkill roscore")
470 | os.system("pkill ssh")
471 | os.system("pkill -n bash")
472 | os.system("pkill bash")
473 | else:
474 | pid=os.fork()
475 | os.kill(pid,signal.SIGSTOP)
476 | os.system("pkill roscore")
477 | os.system("pkill ssh")
478 | os.system("pkill -n bash")
479 | os.system("pkill bash")
480 |
481 | #MAIN
482 | if __name__ == '__main__':
483 |
484 | root = Tk()
485 | root.title("GelSlim")
486 | root.geometry("500x300")
487 | W=59; H=2; d=50;
488 | y1=0; y2=y1+d; y3=y2+d; y4=y3+d; y5=y4+d; y6=y5+d;
489 | B1 = Button(root, text="Connect to Raspberry Pi",width=W, height=H, command =Connect).place(x=0,y=y1)
490 | B1 = Button(root, text="Display Camera Feed",width=W, height=H, command =CameraFeed).place(x=0,y=y2)
491 | B2 = Button(root, text ="Sensor Calibration", width=W, height=H, command=Calibration).place(x=0, y=y3)
492 | B3 = Button(root, text ="3D Reconstruction", width=W, height=H, command=Reconstruction).place(x=0, y=y4)
493 | B4 = Button(root, text ="Incipient Slip", width=W, height=H, command=SlipDetector).place(x=0, y=y5)
494 | B5 = Button(root, text ="Disconnect from Raspberry Pi", width=W, height=H, command=disconnect).place(x=0, y=y6)
495 | flag()
496 | root.protocol("WM_DELETE_WINDOW", on_closing)
497 | root.mainloop()
498 |
499 |
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/Software/GUI/GelSlim/gui.pyc:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/gui.pyc
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/Software/GUI/GelSlim/img_processor.py:
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1 | #!/usr/bin/env python
2 |
3 | from sensor_msgs.msg import CompressedImage
4 | import numpy as np
5 | import time
6 | import rospy, math, cv2, os, sys
7 | global count;
8 | import tkSimpleDialog as simpledialog
9 | from Tkinter import *
10 | import Tkinter , Tkconstants, tkFileDialog
11 | import argparse
12 |
13 | ap = argparse.ArgumentParser()
14 | ap.add_argument("-i","--images", required=True, help="Number of calibration images to caputre")
15 | args=vars(ap.parse_args())
16 | global count;
17 | count=0;
18 |
19 | print('[INFO] Capturing '+'{}'.format(args["images"])+' images...')
20 | num=int('{}'.format(args["images"]))
21 | print('[INFO] Do not press the calibration ball to the sensor for the first image (ref.jpg)...')
22 | print('[INFO] '+'{}'.format(args["images"])+' images will be captured at a regular time interval...')
23 | print('[INFO] Beginning calibration image capture...')
24 | time.sleep(2)
25 | class slip_detection_reaction:
26 |
27 | def __init__(self):
28 |
29 | self.image_sub = rospy.Subscriber("/raspicam_node1/image/compressed",CompressedImage,self.call_back,queue_size = 1,buff_size=2**24)
30 |
31 | def rgb2gray(self,rgb):
32 | return np.dot(rgb[...,:3], [0.5, 0.5, 0.])
33 |
34 | def call_back(self,data):
35 | t = time.time()
36 | np_arr = np.fromstring(data.data, np.uint8)
37 | raw_imag = cv2.imdecode(np_arr, cv2.IMREAD_COLOR).astype(np.uint8)
38 |
39 | cv2.imshow('raw_image',raw_imag)
40 | #cv2.imshow('red',raw_imag[:,:,2])
41 | #cv2.imshow('green',raw_imag[:,:,1])
42 | #cv2.imshow('blue',raw_imag[:,:,0])
43 | #time.sleep(2)
44 | cv2.waitKey(1)
45 |
46 | global count
47 | global end
48 | count+=1
49 | if count %100 == 0 and count/100==1:
50 | cv2.imwrite('./test_data/ref.jpg',raw_imag)
51 | print('[INFO] Saved reference image to ~/test_data')
52 | if count %100 == 0 and count/100>1 and count/100<=(num+1):
53 | cv2.imwrite(('./test_data/sample_'+str((count/100)-1)+'.jpg'),raw_imag)
54 | print('[INFO] Saved sample '+str((count/100)-1)+' to ~/test_data')
55 | if count/100 >=(num+1):
56 | cv2.destroyAllWindows()
57 | print('[INFO] Calibration image capture complete...')
58 | print('[INFO] Please remove empty images from ./test_data')
59 | print('[INFO] Press Ctrl+C in terminal to exit camera and return to GUI...')
60 | time.sleep(100)
61 | else:
62 | exit(0)
63 |
64 | def main():
65 | rospy.init_node('slip_detector', anonymous=True)
66 | while not rospy.is_shutdown():
67 |
68 | slip_detector = slip_detection_reaction()
69 | rospy.spin()
70 |
71 |
72 |
73 |
74 | if __name__ == "__main__":
75 | main()
76 |
77 | #%%
78 |
79 |
80 |
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/Software/GUI/GelSlim/load/arp_cache.txt:
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1 | ? (192.168.1.209) at on enp61s0
2 | ? (192.168.1.84) at on enp61s0
3 | ? (192.168.1.235) at on enp61s0
4 | ? (192.168.1.110) at on enp61s0
5 | ? (192.168.1.229) at on enp61s0
6 | ? (192.168.1.120) at on enp61s0
7 | ? (192.168.1.114) at on enp61s0
8 | ? (192.168.1.9) at on enp61s0
9 | ? (192.168.1.140) at on enp61s0
10 | ? (192.168.1.3) at on enp61s0
11 | ? (192.168.1.134) at on enp61s0
12 | ? (192.168.1.29) at on enp61s0
13 | ? (192.168.1.144) at on enp61s0
14 | ? (192.168.1.23) at on enp61s0
15 | ? (192.168.1.170) at on enp61s0
16 | ? (192.168.1.33) at on enp61s0
17 | ? (192.168.1.164) at on enp61s0
18 | ? (192.168.1.59) at on enp61s0
19 | ? (192.168.1.190) at on enp61s0
20 | ? (192.168.1.53) at on enp61s0
21 | ? (192.168.1.200) at on enp61s0
22 | ? (192.168.1.79) at on enp61s0
23 | ? (192.168.1.194) at on enp61s0
24 | ? (192.168.1.89) at on enp61s0
25 | ? (192.168.1.220) at on enp61s0
26 | Yuvals-MBP (192.168.1.107) at 80:e6:50:02:53:6c [ether] on enp61s0
27 | ? (192.168.1.101) at on enp61s0
28 | ESP_B75818 (192.168.1.42) at dc:4f:22:b7:58:18 [ether] on enp61s0
29 | ? (192.168.1.62) at on enp61s0
30 | ? (192.168.1.72) at on enp61s0
31 | JohnsAppleWatch (192.168.1.207) at on enp61s0
32 | ? (192.168.1.116) at on enp61s0
33 | ? (192.168.1.202) at on enp61s0
34 | ? (192.168.1.222) at on enp61s0
35 | ? (192.168.1.111) at on enp61s0
36 | ? (192.168.1.121) at on enp61s0
37 | ? (192.168.1.115) at on enp61s0
38 | Apple-TV-2 (192.168.1.145) at 1c:1a:c0:6c:d7:8b [ether] on enp61s0
39 | ? (192.168.1.46) at on enp61s0
40 | Johns-phone (192.168.1.56) at 88:19:08:bb:d8:ef [ether] on enp61s0
41 | ? (192.168.1.215) at on enp61s0
42 | ? (192.168.1.106) at on enp61s0
43 | ? (192.168.1.15) at on enp61s0
44 | CSMAJMARCUS03 (192.168.1.130) at 08:d2:3e:1c:76:d6 [ether] on enp61s0
45 | ? (192.168.1.45) at on enp61s0
46 | ? (192.168.1.206) at on enp61s0
47 | c13389jbisogna (192.168.1.95) at 88:e9:fe:86:0b:8e [ether] on enp61s0
48 | ? (192.168.1.210) at on enp61s0
49 | ? (192.168.1.105) at on enp61s0
50 | ? (192.168.1.119) at on enp61s0
51 | Jeremys-iPhone (192.168.1.30) at 4a:c2:f6:74:13:fc [ether] on enp61s0
52 | ? (192.168.1.199) at on enp61s0
53 |
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/Software/GUI/GelSlim/load/count_map.npy:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/load/count_map.npy
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/Software/GUI/GelSlim/load/count_map_3.npy:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/load/count_map_3.npy
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/Software/GUI/GelSlim/load/raspberry_new.launch:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
19 |
20 |
21 |
22 |
23 |
24 |
25 |
26 |
28 |
29 |
31 |
32 |
33 |
34 |
35 |
36 |
37 |
38 |
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/Software/GUI/GelSlim/load/suction_env.sh:
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1 | #!/bin/bash
2 | echo "[INFO] Environment executed..."
3 | . ~/suction_ws/devel/setup.bash
4 | export ROS_MASTER_URI=http://192.168.1.83:11311/
5 | export ROS_IP=192.168.1.219
6 | export ROS_HOSTNAME=192.168.1.219
7 | export ROSLAUNCH_SSH_UNKNOWN=1
8 |
9 | PROMPT_COMMAND='history -a'
10 | history -a
11 |
12 | # sorting in old style
13 | LC_COLLATE="C"
14 | export LC_COLLATE
15 | ulimit -c unlimited
16 | export HISTTIMEFORMAT="%d/%m/%y %T "
17 |
18 |
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/Software/GUI/GelSlim/load/table_3.npy:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/load/table_3.npy
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/Software/GUI/GelSlim/load/table_3_smooth.npy:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/load/table_3_smooth.npy
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/Software/GUI/GelSlim/raspi_connect.sh:
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1 | #!/bin/bash
2 | cd
3 | ssh -tt raspi@192.168.1.219 << EOF
4 | roslaunch raspberry_new.launch
5 | EOF
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/Software/GUI/GelSlim/reboot.sh:
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1 | #!/bin/bash
2 | tab=" --tab"
3 | options=()
4 | cmds[1]="cd
5 | ssh -tt raspi@192.168.1.219 << EOF
6 | echo raspi | sudo -S reboot
7 | EOF"
8 | options1=(--tab -e "bash -c '${cmds[1]} ; bash'")
9 | gnome-terminal "${options1[@]}"
10 | sleep 5
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/Software/GUI/GelSlim/recon_jpg.py:
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1 | #!/usr/bin/env python
2 |
3 |
4 | from sensor_msgs.msg import CompressedImage
5 | import numpy as np
6 | import time
7 | import rospy, math, cv2, os
8 |
9 | global count;
10 | import argparse
11 |
12 | ap = argparse.ArgumentParser()
13 | ap.add_argument("-i","--images", required=True, help="Number of calibration images to caputre")
14 | args=vars(ap.parse_args())
15 | print('[INFO] Capturing '+'{}'.format(args["images"])+' images...')
16 | num=int('{}'.format(args["images"]))
17 | print('[INFO] '+'{}'.format(args["images"])+' images will be captured at a regular time interval...')
18 | print('[INFO] Beginning reconstruction image capture...')
19 | time.sleep(2)
20 | count=0;
21 |
22 | class slip_detection_reaction:
23 |
24 | def __init__(self):
25 |
26 | self.image_sub = rospy.Subscriber("/raspicam_node1/image/compressed",CompressedImage,self.call_back,queue_size = 1,buff_size=2**24)
27 |
28 | def rgb2gray(self,rgb):
29 | return np.dot(rgb[...,:3], [0.5, 0.5, 0.])
30 |
31 | def call_back(self,data):
32 | t = time.time()
33 | np_arr = np.fromstring(data.data, np.uint8)
34 | raw_imag = cv2.imdecode(np_arr, cv2.IMREAD_COLOR).astype(np.uint8)
35 |
36 | cv2.imshow('raw_image',raw_imag)
37 | #cv2.imshow('red',raw_imag[:,:,2])
38 | #cv2.imshow('green',raw_imag[:,:,1])
39 | #cv2.imshow('blue',raw_imag[:,:,0])
40 | cv2.waitKey(1)
41 |
42 | global count
43 | count+=1
44 | #if count %100 == 0 and count/100==1:
45 | #cv2.imwrite(os.path.join(os.path.expanduser('~'),'gelsight_heightmap_reconstruction-master/python_version/test_data','ref.jpg'),raw_imag)
46 | #print('Saved reference image to ~/test_data')
47 | if count %100 == 0 and count/100>=1 and count/100<=(num+1):
48 | cv2.imwrite(('./reconstruction/images/'+'reconstruct_'+str((count/100)-1)+'.jpg'),raw_imag)
49 | print('Saved sample '+str((count/100)-1)+' to ./reconstruction/images')
50 | else:
51 | exit(0)
52 |
53 | # if not cv2.imwrite(os.path.join(os.path.expanduser('~'),'/home/ian/Documents/gelsight_heightmap_reconstruction-master/python_version/test_data','ref.jpg'),raw_imag):
54 | # raise Exception("could not write image")
55 |
56 | def main():
57 | print "[INFO] Press Ctrl+C to exit and return to GUI..."
58 | rospy.init_node('slip_detector', anonymous=True)
59 | while not rospy.is_shutdown():
60 |
61 | slip_detector = slip_detection_reaction()
62 | rospy.spin()
63 |
64 |
65 | if __name__ == "__main__":
66 | main()
67 |
68 | #%%
69 |
70 |
71 |
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/Software/GUI/GelSlim/reconfigure.sh:
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1 | #!/bin/bash
2 |
3 | tab=" --tab"
4 | options=()
5 |
6 | cmds[1]="rosrun rqt_reconfigure rqt_reconfigure"
7 |
8 | options1=(--tab -e "bash -c '${cmds[1]} ; bash'")
9 |
10 | gnome-terminal "${options1[@]}"
11 |
12 | exit 0
13 |
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_0.jpg:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/reconstruction/images/reconstruct_0.jpg
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_1.jpg:
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_10.jpg:
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_2.jpg:
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_3.jpg:
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_5.jpg:
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_6.jpg:
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_7.jpg:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/reconstruction/images/reconstruct_7.jpg
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_8.jpg:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/reconstruction/images/reconstruct_8.jpg
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/Software/GUI/GelSlim/reconstruction/images/reconstruct_9.jpg:
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/Software/GUI/GelSlim/reconstruction/images/sample.zip:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/reconstruction/images/sample.zip
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/Software/GUI/GelSlim/reconstruction/images/updated_reconstruction.zip:
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/Software/GUI/GelSlim/reconstruction/plots/Figure_1-1.png:
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/Software/GUI/GelSlim/reconstruction/plots/Figure_1.png:
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/Software/GUI/GelSlim/reconstruction/plots/sample_plot.png:
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/Software/GUI/GelSlim/reconstruction/plots/sample_realtime_depth.mp4:
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/Software/GUI/GelSlim/test_data/ref.jpg:
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/Software/GUI/GelSlim/test_data/sample.zip:
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https://raw.githubusercontent.com/mcubelab/gelslim/51953e685e923c0c1f6e24ff031f22bb49b4bf19/Software/GUI/GelSlim/test_data/sample.zip
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/Software/GUI/GelSlim/test_data/sample_10.jpg:
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/Software/GUI/GelSlim/test_data/sample_13.jpg:
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/Software/GUI/GelSlim/test_poisson.py:
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1 | import numpy as np
2 | from scipy.io import loadmat
3 | from mpl_toolkits.mplot3d import Axes3D
4 | import matplotlib
5 | from matplotlib import cm
6 | from matplotlib.ticker import LinearLocator, FormatStrFormatter
7 | from fast_poisson import fast_poisson
8 | import cv2
9 | import matplotlib.pyplot as plt
10 | #from fast_poisson import poisson_reconstruct.
11 | from calibration import image_processor, calibration
12 | import time
13 | import pdb
14 | import sys
15 | import argparse
16 |
17 |
18 | scale=3
19 | crop_factor=0
20 | title_pad=4
21 |
22 | matplotlib.rcParams["savefig.directory"] = "./reconstruction/plots/"
23 |
24 | ap = argparse.ArgumentParser()
25 | ap.add_argument("-d","--diameter", required=False, help="diameter of the calibration ball in millimeters")
26 | ap.add_argument("-p","--pixdiam", required=False, help="diameter of the calibration ball in pixels")
27 | ap.add_argument("-n","--name", required=False, help="file path of 3D reconstruction file")
28 | ap.add_argument("-c","--calibration", required=False, help="file path of calibration table")
29 | args=vars(ap.parse_args())
30 |
31 | Pixmm=float('{}'.format(args["diameter"]))/float('{}'.format(args["pixdiam"]))#4.76/80#.02975
32 | print('[INFO] Plotting graphs...')
33 | print('[INFO] Ball Diameter: '+('{}'.format(args["diameter"]))+ 'mm')
34 | print('[INFO] Ball Diameter: '+('{}'.format(args["pixdiam"]))+ 'px')
35 | def matching(test_img, ref_blur,cali,table):
36 | diff = test_img - ref_blur
37 |
38 | diff[:,:,0] = np.clip((diff[:,:,0] - cali.blue_range[0])*cali.ratio, 0, cali.blue_bin-1)
39 | diff[:,:,1] = np.clip((diff[:,:,1] - cali.green_range[0])*cali.ratio, 0, cali.green_bin-1)
40 | diff[:,:,2] = np.clip((diff[:,:,2] - cali.red_range[0])*cali.ratio, 0, cali.green_bin-1)
41 | diff = diff.astype(int)
42 | grad_img = table[diff[:,:,0], diff[:,:,1],diff[:,:,2], :]
43 | return grad_img
44 |
45 | def matching_v2(test_img, ref_blur,cali,table, blur_inverse):
46 |
47 | diff_temp1 = test_img - ref_blur
48 | diff_temp2 = diff_temp1 * blur_inverse
49 | diff_temp2[:,:,0] = (diff_temp2[:,:,0] - cali.zeropoint[0])/cali.lookscale[0]
50 | diff_temp2[:,:,1] = (diff_temp2[:,:,1] - cali.zeropoint[1])/cali.lookscale[1]
51 | diff_temp2[:,:,2] = (diff_temp2[:,:,2] - cali.zeropoint[2])/cali.lookscale[2]
52 | diff_temp3 = np.clip(diff_temp2,0,0.999)
53 | diff = (diff_temp3*cali.bin_num).astype(int)
54 |
55 | # pdb.set_trace()
56 | # _ = plt.hist(np.ndarray.flatten(r), bins='auto')
57 | # plt.show()
58 | # plt.figure()
59 | # plt.imshow((diff_temp1-np.min(diff_temp1)).astype(np.uint8))
60 | # plt.figure(0)
61 | # plt.imshow(ref_blur.astype(np.uint8))
62 | # plt.figure(1)
63 | # plt.imshow(test_img.astype(np.uint8))
64 | # plt.figure(2)
65 | # plt.imshow(((diff_temp2 - np.min(diff_temp2))/100).astype(np.uint8))
66 | # plt.show()
67 | grad_img = table[diff[:,:,0], diff[:,:,1],diff[:,:,2], :]
68 | return grad_img
69 |
70 |
71 | def show_depth(depth, figure_num):
72 | # fig = plt.figure(figure_num)
73 | # ax = fig.gca(projection='3d')
74 | # # ax.set_aspect('equal')
75 | # X = np.arange(0, depth.shape[1], 1)*4.76/80
76 | # Y = np.arange(0, depth.shape[0], 1)*4.76/80
77 | # X, Y = np.meshgrid(X, Y)
78 | # ax.plot_surface(X, Y, depth, cmap=cm.jet)
79 | # # fig.colorbar(surf, shrink=0.5, aspect=5)
80 | # # plt.show()
81 | fig = plt.figure(figsize=(20,2.5))
82 | ax=fig.add_subplot(1,6,6, projection='3d')
83 | fig.suptitle('GelSight Plots: Raw_Image Dimensions:'+str(width)+'x'+str(height)+' px / Crop Factor: '+str(pad)+' px / Z-Axis Relative Scaling: '+str(scale)+'X', fontsize=8, y=0.999)
84 | X = np.arange(0, depth.shape[1], 1)
85 | Y = np.arange(0, depth.shape[0], 1)
86 | X, Y = np.meshgrid(X, Y)
87 | X=X*Pixmm
88 | Y=Y*Pixmm
89 | surf=ax.plot_surface(X, Y, depth, cmap=cm.jet)
90 | #fig.colorbar(surf, shrink=0.5, aspect=5) (LEGEND BAR)
91 | max_range = np.array([X.max()-X.min(), Y.max()-Y.min(), depth.max()-depth.min()]).max() / 2.0
92 | mid_x = (X.max()+X.min()) * 0.5
93 | mid_y = (Y.max()+Y.min()) * 0.5
94 | mid_z = (depth.max()+depth.min()) * 0.5
95 | ax.set_xlim(mid_x - max_range, mid_x + max_range)
96 | ax.set_ylim(mid_y - max_range, mid_y + max_range)
97 | ax.set_zlim(mid_z , mid_z + (max_range*2/scale))
98 | ax.tick_params(axis="x", labelsize=6, pad=-5)
99 | ax.tick_params(axis="y", labelsize=6, pad=-5)
100 | ax.tick_params(axis="z", labelsize=6, pad=-5)
101 | ax.set_xlabel('Length (mm)',fontsize=6, labelpad=-8)
102 | ax.set_ylabel('Width (mm)',fontsize=6, labelpad=-8)
103 | ax.set_zlabel('Height (mm)',fontsize=6, labelpad=-8)
104 | ax.set_title('3D Depth Map',fontsize=8, pad=13)
105 | plt.subplots_adjust(wspace=0)
106 |
107 |
108 | def contact_detection(raw_image, ref_blur,marker_mask, kernel):
109 | diff_img = np.max(np.abs(raw_image.astype(np.float32) - ref_blur),axis = 2)
110 | contact_mask = (diff_img> 25).astype(np.uint8) #*(1-marker_mask)
111 | contact_mask = cv2.dilate(contact_mask, kernel, iterations=1)
112 | contact_mask = cv2.erode(contact_mask, kernel, iterations=1)
113 | return contact_mask
114 |
115 | def marker_detection(raw_image_blur):
116 | m, n = raw_image_blur.shape[1], raw_image_blur.shape[0]
117 | raw_image_blur = cv2.pyrDown(raw_image_blur).astype(np.float32)
118 | ref_blur = cv2.GaussianBlur(raw_image_blur, (25, 25), 0)
119 | diff = ref_blur - raw_image_blur
120 | diff *= 16.0
121 | # cv2.imshow('blur2', blur.astype(np.uint8))
122 | # cv2.waitKey(1)
123 | diff[diff < 0.] = 0.
124 | diff[diff > 255.] = 255.
125 |
126 | # diff = cv2.GaussianBlur(diff, (5, 5), 0)
127 | # cv2.imshow('diff', diff.astype(np.uint8))
128 | # cv2.waitKey(1)
129 | # mask = (diff[:, :, 0] > 25) & (diff[:, :, 2] > 25) & (diff[:, :, 1] >
130 | # 120)
131 | mask_b = diff[:, :, 0] > 150
132 | mask_g = diff[:, :, 1] > 150
133 | mask_r = diff[:, :, 2] > 150
134 | mask = (mask_b*mask_g + mask_b*mask_r + mask_g*mask_r)>0
135 | # cv2.imshow('mask', mask.astype(np.uint8) * 255)
136 | # cv2.waitKey(1)
137 | mask = cv2.resize(mask.astype(np.uint8), (m, n))
138 | return mask
139 |
140 | def make_kernal(n,k_type):
141 | if k_type == 'circle':
142 | kernal = cv2.getStructuringElement(cv2.MORPH_ELLIPSE,(n,n))
143 | else:
144 | kernal = cv2.getStructuringElement(cv2.MORPH_RECT,(n,n))
145 | return kernal
146 | #
147 |
148 | if __name__ == '__main__':
149 | table2 = np.load('{}'.format(args["calibration"]))#('table_smooth.npy')
150 | abe_array = np.load('abe_corr.npz')
151 | x_index, y_index = abe_array['x'], abe_array['y']
152 | kernel1 = make_kernal(3,'circle')
153 | kernel2 = make_kernal(25,'circle')
154 |
155 | imp = image_processor()
156 | cali = calibration()
157 | pad = 20
158 | ref_img = cv2.imread('./test_data/ref.jpg')
159 | ref_img = ref_img[x_index, y_index, :]
160 | height = ref_img.shape[0]
161 | width = ref_img.shape[1]
162 | test_img = cv2.imread('{}'.format(args["name"]))#('./test_data/reconstruct_10.jpg')
163 | test_img = test_img[x_index, y_index, :]
164 | disp_img_e = cv2.imread('{}'.format(args["name"]))
165 | ab_array = np.load('abe_corr.npz')
166 | x_index = ab_array['x']
167 | y_index = ab_array['y']
168 | disp_img = disp_img_e[x_index, y_index, :]
169 |
170 | # ref_img = test_img.copy()
171 | ref_img = imp.crop_image(ref_img, pad)
172 | disp_img = imp.crop_image(disp_img, pad)
173 | marker = cali.mask_marker(ref_img)
174 | keypoints = cali.find_dots(marker)
175 | marker_mask = cali.make_mask(ref_img, keypoints)
176 | marker_image = np.dstack((marker_mask, marker_mask, marker_mask))
177 | ref_img = cv2.inpaint(ref_img,marker_mask,3,cv2.INPAINT_TELEA)
178 | red_mask = (ref_img[:,:,2] > 12).astype(np.uint8)
179 | ref_blur = cv2.GaussianBlur(ref_img.astype(np.float32), (3, 3), 0) + 1
180 | # pdb.set_trace()
181 | # ref_blur_small = cv2.pyrDown(ref_blur).astype(np.float32)
182 | blur_inverse = 1 + ((np.mean(ref_blur)/ref_blur)-1)*2;
183 | test_img = imp.crop_image(test_img, pad)
184 | test_img = cv2.GaussianBlur(test_img.astype(np.float32), (3, 3), 0)
185 | # t1 = time.time()
186 | marker_mask = marker_detection(test_img)
187 | marker_mask = cv2.dilate(marker_mask, kernel1, iterations=1)
188 | contact_mask = contact_detection(test_img, ref_blur,marker_mask, kernel2)
189 |
190 | # mask_2_show = np.dstack((np.zeros_like(marker_mask), marker_mask, np.zeros_like(marker_mask)))*40 + test_img.astype(np.uint8)
191 | # plt.figure(20)
192 | # plt.imshow(mask_2_show)
193 | # plt.figure(21)
194 | # plt.imshow(contact_mask)
195 | # plt.show()
196 |
197 | grad_img2 = matching_v2(test_img, ref_blur, cali, table2, blur_inverse)
198 |
199 | grad_img2[:,:,0] = grad_img2[:,:,0] * (1-marker_mask) * red_mask
200 | grad_img2[:,:,1] = grad_img2[:,:,1] * (1-marker_mask) * red_mask
201 |
202 | # depthgx = np.array(gx.ImGradX)1 = fast_poisson(grad_img1[:,:,0], grad_img1[:,:,1])
203 | depth2 = fast_poisson(grad_img2[:,:,0], grad_img2[:,:,1])
204 | # depth1[depth1<0] = 0
205 | depth2[depth2<0] = 0
206 | # show_depth(depth1,99)
207 | show_depth(depth2,100)
208 | # print(time.time()-t1)
209 | # plt.figure(0)
210 | # plt.imshow(grad_img2[:,:,0])
211 | # plt.figure(1)
212 | # plt.imshow(grad_img2[:,:,1])
213 | # plt.figure(2)
214 | # plt.imshow(depth2)
215 | # # plt.figure(3)
216 | # # plt.imshow((ref_blur)/255.)
217 | # # plt.figure(5)
218 | # # plt.imshow(cv2.cvtColor((test_img-ref_blur)/70, cv2.COLOR_BGR2RGB))
219 | # plt.show()
220 | # cv2.imshow('diff',(((test_img-ref_blur)+150)/400*255).astype(np.uint8))
221 | # cv2.waitKey(0)
222 | #%%
223 | # cv2.imshow('test_image', test_img.astype(np.uint8))
224 | # cv2.waitKey()
225 |
226 |
227 | ax3 = plt.subplot(164)
228 | plt.title('Gradient ('+r'$\nabla_Y$'+')', fontsize=8, pad=title_pad)
229 | plt.xticks(fontsize=6)
230 | plt.yticks(fontsize=6)
231 | plt.axis('off')
232 | plt.imshow(grad_img2[:,:,0])
233 |
234 | ax2 = plt.subplot(163)
235 | plt.title('Gradient ('+r'$\nabla_X$'+')', fontsize=8, pad=title_pad)
236 | plt.xticks(fontsize=6)
237 | plt.yticks(fontsize=6)
238 | plt.axis('off')
239 | plt.imshow(grad_img2[:,:,1])
240 |
241 | ax4 = plt.subplot(165)
242 | plt.title('2D Depth Map', fontsize=8, pad=title_pad)
243 | plt.xticks(fontsize=6)
244 | plt.yticks(fontsize=6)
245 | plt.axis('off')
246 | plt.imshow(depth2)
247 |
248 | ax1 = plt.subplot(162)
249 | plt.title('$img_{target}-img_{ref}$', fontsize=8 , pad=title_pad)
250 | plt.xticks(fontsize=6)
251 | plt.yticks(fontsize=6)
252 | plt.axis('off')
253 | plt.imshow(cv2.cvtColor((test_img-ref_blur)/70, cv2.COLOR_BGR2RGB))
254 |
255 | ax6 = plt.subplot(161)
256 | plt.title('$img_{target}$', fontsize=8 , pad=title_pad)
257 | plt.xticks(fontsize=6)
258 | plt.yticks(fontsize=6)
259 | plt.axis('off')
260 | plt.imshow(cv2.cvtColor((disp_img), cv2.COLOR_BGR2RGB))
261 | plt.show()
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/Software/GUI/README.md:
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1 | # GelSlim
2 |
3 | ## System Requirements
4 | - Ubuntu 18.04 Bionic Beaver
5 | - Python 2.7
6 | - ROS Melodic
7 | * *http://wiki.ros.org/melodic/Installation/Ubuntu*
8 | - Python OpenCV 3.4.4
9 | * *pip install opencv-python==3.4.4*
10 | - Arp Scan
11 | * *sudo apt-get install -y arp-scan*
12 | - NMap
13 | * *sudo apt-get install nmap*
14 | - Matplotlib
15 | * *pip install matplotlib*
16 | - Scipy
17 | * *pip install scipy*
18 |
19 | ## Raspberry Pi Settings
20 | - Turn on SSH in Ubuntu Mate
21 | * *sudo systemctl enable ssh*
22 |
23 | - Set Raspi IP Manually
24 | * *IPV4 IP Address: 192.168.1.XXX*
25 | * *Net Mask: 255.255.255.0*
26 | * *DNS 8.8.4.4.,8.8.8.8*
27 |
28 | ## Installation
29 |
30 | - Download the GelSlim folder and unzip
31 |
32 | - cd to ./GelSlim in terminal
33 |
34 | - run python gui.py
35 |
36 | ## IP Address
37 |
38 | ### To change the IP Address used for ROS Master and Raspberry Pi use the included arguments for gui.py
39 | #### Note the default IP Addresses are currently set to be "NONE" valued so the script will automatically locate them for you.
40 |
41 | - python gui.py -a 1 *Finds IP Addresses automatically using **arp** terminal command*
42 |
43 | - python gui.py -a 2 *Set IP Addresses manually*
44 |
45 | - change the default IP Address in line 21-22 of gui.py
46 |
47 | - **NOTE:** the local name and password for the raspberry pi must be "raspi" for the automatic login of ssh to work
48 | if this is not the case you must change the local name and password within "raspberry_new.launch"
49 |
50 | ## Error Log
51 |
52 | https://docs.google.com/document/d/1r3EBdHhFpfCTQFS_eKzmCBGyteXqJAIMatUEwNnOWO8/edit
53 |
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/Software/README.txt:
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1 | SOFTWARE README
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/Software/Raspberry Pi/README.txt:
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1 | RASPBERRY PI - Setup
2 |
3 | 1) Purchase a Raspberry Pi 3 with microSD card (>=64gb)
4 | 2) Flash Ubuntu Mate on to the microSD card
5 | -https://ubuntu-mate.org/
6 | -https://www.balena.io/etcher/
7 | 3) Install ROS Melodic on the Raspberry Pi
8 | -http://wiki.ros.org/melodic/Installation/Ubuntu
9 | 4) Download the Raspberry Pi Image Files
10 | -https://drive.google.com/file/d/1tJJFsddHKVC8RBUEtGawACZJs3rvnD6q/view?usp=sharing
11 | 5) Copy the files to the Raspberry Pi and unzip them in the home directory
12 | 6) Follow the instructions in the GUI README to setup video streaming connection with computer over ethernet
13 |
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/_layouts/default.html:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 | {% seo %}
9 |
10 | {% include head-custom.html %}
11 |
12 |
13 |
14 | {% endif %}
15 |
16 | {{ content }}
17 |
18 | {% if site.github.private != true and site.github.license %}
19 |
22 | {% endif %}
23 |
24 |
25 |
26 |
27 |