Thank you for your reply.
I confirmed that the first image is processed with my customized functions, ā_set_cameraā and āgetfeatureā, and it doesnāt work anymore after push the āstartā button.
Iām fixing this error, but it still has the same error.
[Error] [carb.events.python] RuntimeError: This event loop is already running
The below is the code that I run. ( I used omni.addon,DATA VISUALIZER, that you made :) )
# Copyright (c) 2020-2021, NVIDIA CORPORATION. All rights reserved. # # NVIDIA CORPORATION and its licensors retain all intellectual property # and proprietary rights in and to this software, related documentation # and any modifications thereto. Any use, reproduction, disclosure or # distribution of this software and related documentation without an express # license agreement from NVIDIA CORPORATION is strictly prohibited. import carb.input from pxr import Usd, UsdGeom import omni.kit.commands import omni.ext import omni.appwindow import omni.ui as ui import omni.kit.settings from omni.kit.menu.utils import add_menu_items, remove_menu_items, MenuItemDescription import asyncio import weakref from omni.isaac.motion_planning import _motion_planning from omni.isaac.dynamic_control import _dynamic_control import omni.physx as _physx from .utils.scenario import Scenario from .utils.ghost_scenario import GhostScenario import cv2 import numpy as np import omni.kit.test from omni.add_on.visualizer import _visualizer EXTENSION_NAME = "Leonardo Preview Test" class Extension(omni.ext.IExt): def on_startup(self): """Initialize extension and UI elements """ self._timeline = omni.timeline.get_timeline_interface() self._viewport = omni.kit.viewport.get_default_viewport_window() self._usd_context = omni.usd.get_context() self._stage = self._usd_context.get_stage() self._window = None self._create_franka_btn = None self._perform_task_btn = None self._stop_task_btn = None self._toggle_obstacle_btn = None self._mp = _motion_planning.acquire_motion_planning_interface() self._dc = _dynamic_control.acquire_dynamic_control_interface() self._physxIFace = _physx.acquire_physx_interface() self._settings = carb.settings.get_settings() self._appwindow = omni.appwindow.get_default_app_window() self._sub_stage_event = self._usd_context.get_stage_event_stream().create_subscription_to_pop( self._on_stage_event ) self._scenario = Scenario(self._dc, self._mp) self._editor_event_subscription = None self._menu_items = [ MenuItemDescription( name="Demos", sub_menu=[ MenuItemDescription( name="Leonardo Demo_test", onclick_fn=lambda a=weakref.proxy(self): a._menu_callback() ) ], ) ] add_menu_items(self._menu_items, "Isaac Examples") self._first_step = True def _menu_callback(self): self._build_ui() def _build_ui(self): if not self._window: self._window = ui.Window( title=EXTENSION_NAME, width=300, height=200, dockPreference=ui.DockPreference.LEFT_BOTTOM ) with self._window.frame: with ui.VStack(): self._create_franka_btn = ui.Button("Create Scenario", clicked_fn=self._on_environment_setup) self._perform_task_btn = ui.Button("Perform Task", clicked_fn=self._on_perform_task) self._perform_task_btn.enabled = False self._stop_task_btn = ui.Button("Stop/Reset Task", clicked_fn=self._on_stop_tasks) self._stop_task_btn.enabled = False self._toggle_obstacle_btn = ui.Button("Toggle Obstacle", clicked_fn=self._on_toggle_obstacle) self._toggle_obstacle_btn.enabled = False self._editor_event_subscription = ( omni.kit.app.get_app().get_update_event_stream().create_subscription_to_pop(self._on_update_ui) ) self._window.visible = True def _on_environment_setup(self): # wait for new stage before creating franka task = asyncio.ensure_future(omni.usd.get_context().new_stage_async()) asyncio.ensure_future(self._on_create_franka(task)) async def _on_create_franka(self, task): """Load any assets required by the scenario and create objects """ done, pending = await asyncio.wait({task}) if task not in done: await omni.kit.app.get_app().next_update_async() return self._stage = self._usd_context.get_stage() self._scenario = GhostScenario(self._dc, self._mp) self._first_step = True self._create_franka_btn.enabled = False self._timeline.stop() self._physxIFace.release_physics_objects() self._settings.set("/rtx/reflections/halfRes", True) self._settings.set("/rtx/shadows/denoiser/quarterRes", True) self._settings.set("/rtx/translucency/reflectionCutoff", 0.1) self._scenario.create_franka() self.sd_helper = None self._set_camera() self._physxIFace.release_physics_objects() self._physxIFace.force_load_physics_from_usd() self._physxIFace.release_physics_objects() self._physxIFace.force_load_physics_from_usd() self._physx_subs = _physx.get_physx_interface().subscribe_physics_step_events(self._on_simulation_step) self._stop_task_btn.enabled = True self._toggle_obstacle_btn.enabled = True self._viewport.set_camera_position("/OmniverseKit_Persp", 142, -127, 56, True) self._viewport.set_camera_target("/OmniverseKit_Persp", -180, 234, -27, True) light_prim = self._stage.GetPrimAtPath("/World/defaultLight") if light_prim: light_prim.SetActive(False) def _set_camera(self): import omni.kit from omni.isaac.synthetic_utils import SyntheticDataHelper from omni.syntheticdata import sensors self.sd_helper = None self.viewport_window = None camera_path = "/environments/env_0_0/Franka/panda/panda_hand/geometry/realsense/realsense_camera" viewport_handle = omni.kit.viewport.get_viewport_interface().create_instance() viewport_window = omni.kit.viewport.get_viewport_interface().get_viewport_window(viewport_handle) viewport_window.set_active_camera(camera_path) viewport_window.set_texture_resolution(512, 512) viewport_window.set_window_pos(1000, 400) viewport_window.set_window_size(420, 420) self.viewport_window = viewport_window self.sd_helper = SyntheticDataHelper() self.sd_helper.initialize(sensor_names=["rgb"], viewport=self.viewport_window) viewport2RGB = self.sd_helper.get_groundtruth(["rgb"], self.viewport_window) viewport2RGB= list(viewport2RGB.values())[0] image = np.array(viewport2RGB) image2 = self.GetFeature(image) _visualizer.imshow("window", image2) # cv2.imshow('test', dst) # cv2.waitKey(0) # ė³ģź°ė§ķ¼ ģ¬ģ©ģģ ķ¤ģ
ė „ ģź°ģ ėźø°ģķ“ # cv2.destroyAllWindows() # ķė”ź·øėØ ģ¢
ė£ģ ģģģ ķ“ģ return def GetFeature(self, frame): lower_green = np.array([10, 40, 15]) # lower color threshold upper_green = np.array([150, 255, 255]) # upper color threshold drawing_frame = frame.copy() # get contours hsv_frame = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV) mask_green = cv2.inRange(hsv_frame, lower_green, upper_green) height_list = [] # to compare maximum height of each contours width_list = [] # to compare maximum width of each contours area_list = [] cnts, _ = cv2.findContours(mask_green, cv2.RETR_LIST, cv2.CHAIN_APPROX_NONE) for c in cnts: A = cv2.contourArea(c) if A < 500: # ignore areas smaller than 500 continue else: area_list.append(A) # get extreme points from a contour extLeft = tuple(c[c[:, :, 0].argmin()][0]) extRight = tuple(c[c[:, :, 0].argmax()][0]) extTop = tuple(c[c[:, :, 1].argmin()][0]) extBot = tuple(c[c[:, :, 1].argmax()][0]) # draw everything cv2.drawContours(drawing_frame, [c], -1, (0, 255, 0), 2) cv2.circle(drawing_frame, extLeft, 3, (0, 0, 255), -1) cv2.circle(drawing_frame, extRight, 3, (255, 255, 0), -1) cv2.circle(drawing_frame, extTop, 3, (255, 0, 0), -1) cv2.circle(drawing_frame, extBot, 3, (0, 255, 255), -1) height_list.append(abs(extRight[0]-extLeft[0])) width_list.append(abs(extBot[1]-extTop[1])) # maximum height, width and area height = max(height_list) width = max(width_list) area = max(area_list) # write things down in the frame cv2.putText(drawing_frame, "- HEIGHT : "+ str(height), (10, 60), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (255,255,255), 1) cv2.putText(drawing_frame, "- WIDTH : "+ str(width), (10, 80), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (255,255,255), 1) cv2.putText(drawing_frame, "- AREA : "+ str(area), (10, 100), cv2.FONT_HERSHEY_SIMPLEX, 0.4, (255,255,255), 1) return drawing_frame def _on_stop_tasks(self, *args): """Stop all tasks being performed by the scenario """ self._scenario.stop_tasks() def _on_simulation_step(self, step): """This function is called every timestep in the editor Arguments: step (float): elapsed time between steps """ if self._first_step: self._scenario.register_assets() self._first_step = False self._scenario.step(step) def _on_stage_event(self, event): """This function is called when stage events occur. Enables UI elements when stage is opened. Prevents tasks from being started until all assets are loaded Arguments: event (int): event type """ if self._window: self.stage = self._usd_context.get_stage() if event.type == int(omni.usd.StageEventType.OPENED): self._create_franka_btn.enabled = True self._perform_task_btn.enabled = False self._stop_task_btn.enabled = False self._toggle_obstacle_btn.enabled = False self._timeline.stop() self._on_stop_tasks() self._scenario = Scenario(self._dc, self._mp) def _on_toggle_obstacle(self, *args): """ Toggle obstacle visibility """ for obstacle in self._scenario._obstacles: imageable = UsdGeom.Imageable(self._stage.GetPrimAtPath(obstacle.asset_path)) visibility = imageable.ComputeVisibility(Usd.TimeCode.Default()) if visibility == UsdGeom.Tokens.invisible: imageable.MakeVisible() obstacle.unsuppress() else: imageable.MakeInvisible() obstacle.suppress() def _on_perform_task(self, *args): """Perform all tasks in the scenario """ self._scenario.perform_tasks() def _on_update_ui(self, step): """Callback that updates UI elements every frame """ if self._scenario.is_created(): self._create_franka_btn.enabled = False self._perform_task_btn.enabled = False self._stop_task_btn.enabled = False if self._timeline.is_playing(): self._perform_task_btn.enabled = True self._perform_task_btn.text = "Perform Task" if self._scenario._running is True: self._perform_task_btn.enabled = False self._stop_task_btn.enabled = True else: self._perform_task_btn.enabled = True self._stop_task_btn.enabled = False else: self._perform_task_btn.enabled = False self._perform_task_btn.text = "Press Play To Enable" self._scenario._running = False else: self._create_franka_btn.enabled = True self._perform_task_btn.enabled = False self._perform_task_btn.text = "Press Create To Enable" self._stop_task_btn.enabled = False self._toggle_obstacle_btn.enabled = False def on_shutdown(self): """Cleanup objects on extension shutdown """ self._timeline.stop() self._on_stop_tasks() self._scenario = None self._editor_event_subscription = None self._physx_subs = None remove_menu_items(self._menu_items, "Isaac Examples") self._window = None self._menus = None
I am waiting for your insight about this issue.
Thank you !
