def __init__(self):
super(HumanLocationProcessor, self).__init__()
from Robots.rosHelper import ROS, Transform
self._ros = ROS()
self._topic = '/trackedHumans'
self._tm = None
self._transform = Transform(toTopic='/map', fromTopic='/camera_frame')
self._targetName = "Humans"
self._storedLoc = self._getStoredLoc
self._curLoc = self._getCurrentLoc
self._updateLoc = lambda locid, x, y, orientation: self._update(locid, x, y, orientation)
class HumanLocationProcessor(LocationProcessor):
def __init__(self):
super(HumanLocationProcessor, self).__init__()
from Robots.rosHelper import ROS, Transform
self._ros = ROS()
self._topic = '/trackedHumans'
self._tm = None
self._transform = Transform(toTopic='/map', fromTopic='/room_frame')
self._targetName = "Humans"
self._storedLoc = self._getStoredLoc
self._curLoc = self._getCurrentLoc
self._updateLoc = lambda locid, x, y, orientation: self._update(locid, x, y, orientation)
@property
def _transformMatrix(self):
if self._tm == None:
((x, y, _), rxy) = self._transform.getTransform()
if x == None or y == None:
return ('', (None, None, None))
angle = round(math.degrees(rxy))
self._tm = (round(x, 3), round(y, 3), angle)
return self._tm
def _update(self, locid, x, y, theta):
#kept for legacy support
self._dao.locations.saveLocation(999, 999, x, y, theta, server_config['mysql_location_table'], 'locationId')
user = self._dao.users.getActiveUser()
user['xCoord'] = x
user['yCoord'] = y
user['orientation'] = theta
self._dao.users.updateUser(user)
def _getCurrentLoc(self):
locs = self._ros.getSingleMessage(self._topic)
if len(locs.trackedHumans) > 0:
loc = locs.trackedHumans[0]
else:
return ('', (None, None, None))
x = loc.location.point.x + self._transformMatrix[0]
y = loc.location.point.y + self._transformMatrix[1]
angle = 0 + self._transformMatrix[2]
print "Using human location from id: %s" % loc.id
pos = (round(x, 3), round(y, 3), angle)
return Locations.resolveLocation(pos)
def _getStoredLoc(self):
user = self._dao.users.getActiveUser()
loc = self._dao.getLocation(user['locationId'])
loc['locationName'] = loc['name']
return loc
def __init__(self):
super(HumanLocationProcessor, self).__init__()
from Robots.rosHelper import ROS, Transform
self._ros = ROS()
self._topic = '/trackedHumans'
self._tm = None
self._transform = Transform(toTopic='/map', fromTopic='/room_frame')
self._targetName = "Humans"
self._storedLoc = self._getStoredLoc
self._curLoc = self._getCurrentLoc
self._updateLoc = lambda locid, x, y, orientation: self._update(locid, x, y, orientation)
class HumanLocationProcessor(LocationProcessor):
"""Update the location of the most likely tracked human in the database"""
"""This updates both the user table (based on CurrentUser) and the location table for the location 'Current user location' """
"""The idea, going forward, is to phase out the special location from the locations table, in order to eventually provide """
""" support for multiple simultaneous user tracking. This, however, requires the integration of user tagging with the """
""" location tracker, and consistency upgrades to the tracked human id coming from the tracker."""
def __init__(self):
super(HumanLocationProcessor, self).__init__()
from Robots.rosHelper import ROS, Transform
self._ros = ROS()
self._topic = '/trackedHumans'
self._tm = None
self._transform = Transform(toTopic='/map', fromTopic='/room_frame')
self._targetName = "Humans"
self._storedLoc = self._getStoredLoc
self._curLoc = self._getCurrentLoc
self._updateLoc = lambda locid, x, y, orientation: self._update(locid, x, y, orientation)
@property
def _transformMatrix(self):
if self._tm == None:
((x, y, _), rxy) = self._transform.getTransform()
if x == None or y == None:
return ('', (None, None, None))
angle = round(math.degrees(rxy))
self._tm = (round(x, 3), round(y, 3), angle)
return self._tm
def _update(self, locid, x, y, theta):
#kept for legacy support
self._dao.locations.saveLocation(999, 999, x, y, theta, server_config['mysql_location_table'], 'locationId')
user = self._dao.users.getActiveUser()
user['xCoord'] = x
user['yCoord'] = y
user['orientation'] = theta
self._dao.users.updateUser(user)
def _getCurrentLoc(self):
locs = self._ros.getSingleMessage(self._topic)
if locs == None:
print "No message recieved from %s" % self._topic
return ('', (None, None, None))
loc = None
for human in locs.trackedHumans:
if human.specialFlag == 1:
loc = human
break
if loc == None:
print "No human returned from location tracker"
return ('', (None, None, None))
x = loc.location.point.x + self._transformMatrix[0]
y = loc.location.point.y + self._transformMatrix[1]
angle = 0 + self._transformMatrix[2]
print "Using human location from id: %s" % loc.id
pos = (round(x, 3), round(y, 3), angle)
return Locations.resolveLocation(pos)
def _getStoredLoc(self):
user = self._dao.users.getActiveUser()
loc = self._dao.getLocation(user['locationId'])
loc['locationName'] = loc['name']
return loc
class HumanLocationProcessor(LocationProcessor):
"""Update the location of the most likely tracked human in the database"""
"""This updates both the user table (based on CurrentUser) and the location table for the location 'Current user location' """
"""The idea, going forward, is to phase out the special location from the locations table, in order to eventually provide """
""" support for multiple simultaneous user tracking. This, however, requires the integration of user tagging with the """
""" location tracker, and consistency upgrades to the tracked human id coming from the tracker."""
def __init__(self):
super(HumanLocationProcessor, self).__init__()
from Robots.rosHelper import ROS, Transform
self._ros = ROS()
self._topic = '/trackedHumans'
self._tm = None
self._transform = Transform(toTopic='/map', fromTopic='/camera_frame')
self._targetName = "Humans"
self._storedLoc = self._getStoredLoc
self._curLoc = self._getCurrentLoc
self._updateLoc = lambda locid, x, y, orientation: self._update(locid, x, y, orientation)
@property
def _transformMatrix(self):
if self._tm == None:
((x, y, _), rxy) = self._transform.getTransform()
if x == None or y == None:
return (None, None, None)
angle = round(math.degrees(rxy))
self._tm = (round(x, 3), round(y, 3), angle)
return self._tm
def _update(self, locid, x, y, theta):
#kept for legacy support
self._dao.locations.saveLocation(999, 999, x, y, theta, server_config['mysql_location_table'], 'locationId')
user = self._dao.users.getActiveUser()
user['xCoord'] = x
user['yCoord'] = y
user['orientation'] = theta
user['locationId'] = locid
self._dao.users.updateUser(user)
def _getCurrentLoc(self):
locs = self._ros.getSingleMessage(self._topic)
if locs == None:
print "No message recieved from %s" % self._topic
return ('', (None, None, None))
loc = None
for human in locs.trackedHumans:
if human.specialFlag == 1:
loc = human
break
if loc == None:
print "No human returned from location tracker"
return ('', (None, None, None))
#tm = self._transformMatrix
#loc.header.frame_id is 'usually' /camera_frame
(x, y, _) = self._transform.transformPoint(loc.location, toTopic='/map', fromTopic=loc.location.header.frame_id)
if x == None or y == None:
print "Error getting transform"
return ('', (None, None, None))
#else:
# angle = 0 #TODO: UVA Orientation
# print "Using human location from id: %s" % loc.id
pos = (round(x, 3), round(y, 3), 0)
return Locations.resolveLocation(pos)
def _getStoredLoc(self):
user = self._dao.users.getActiveUser()
loc = self._dao.getLocation(user['locationId'])
loc['locationName'] = loc['name']
return loc
