def test(self):
model = incoming_image()
model.time_stamp = 1547453775.2
model.focal_length = 16.0
model.image_path = '/im/a/totally/real/path/i/swear.jpg'
model.manual_tap = False
model.autonomous_tap = False
truncateTable('incoming_image')
dao = IncomingImageDAO(defaultConfigPath())
self.assertIsNotNone(dao)
# test with empty table
self.assertIsNone(dao.getImage(1))
resultingId = dao.addImage(model)
self.assertNotEqual(resultingId, -1)
resultingModel = dao.getImage(resultingId)
self.assertIsNotNone(resultingModel)
self.assertAlmostEqual(resultingModel.time_stamp, model.time_stamp)
self.assertEqual(resultingModel.focal_length, model.focal_length)
self.assertEqual(resultingModel.image_path, model.image_path)
self.assertEqual(resultingModel.manual_tap, model.manual_tap)
self.assertEqual(resultingModel.autonomous_tap, model.autonomous_tap)
def test(self):
truncateTable('incoming_image')
dao = IncomingImageDAO(defaultConfigPath())
self.assertIsNotNone(dao)
# test with empty table
self.assertIsNone(dao.getNextImage(True))
self.assertIsNone(dao.getNextImage(False))
model = incoming_image()
model.time_stamp = 1547453775.2
model.focal_length = 16.0
model.image_path = '/im/a/totally/real/path/i/swear.jpg'
model.manual_tap = False
model.autonomous_tap = False
resultingId = dao.addImage(model)
self.assertNotEqual(resultingId, -1)
# identical timestamps should make no difference
model.focal_length = 16.0
model.image_path = '/im/a/totally/real/path/2/i/swear.jpg'
resultingId2 = dao.addImage(model)
self.assertNotEqual(resultingId2, -1)
resultModel = dao.getNextImage(True)
self.assertIsNotNone(resultModel)
self.assertEqual(resultModel.image_id, resultingId)
self.assertTrue(resultModel.manual_tap)
self.assertFalse(resultModel.autonomous_tap)
resultModel = dao.getNextImage(True)
self.assertIsNotNone(resultModel)
self.assertEqual(resultModel.image_id, resultingId2)
self.assertTrue(resultModel.manual_tap)
self.assertFalse(resultModel.autonomous_tap)
resultModel = dao.getNextImage(False)
self.assertIsNotNone(resultModel)
self.assertEqual(resultModel.image_id, resultingId)
self.assertTrue(resultModel.manual_tap)
self.assertTrue(resultModel.autonomous_tap)
resultModel = dao.getNextImage(True)
self.assertIsNone(resultModel)
resultModel = dao.getNextImage(False)
self.assertIsNotNone(resultModel)
self.assertEqual(resultModel.image_id, resultingId2)
self.assertTrue(resultModel.manual_tap)
self.assertTrue(resultModel.autonomous_tap)
resultModel = dao.getNextImage(False)
self.assertIsNone(resultModel)
def test(self):
truncateTable('incoming_image')
truncateTable('cropped_autonomous')
truncateTable('outgoing_autonomous')
dao = OutgoingAutonomousDAO(defaultConfigPath())
testIns = outgoing_autonomous()
testIns.crop_id = 42
testIns.shape = 'circle'
testIns.background_color = 'white'
testIns.alphanumeric = 'A'
testIns.alphanumeric_color = 'black'
self.assertNotEqual(dao.addClassification(testIns), -1)
dao = CroppedAutonomousDAO(defaultConfigPath())
model = cropped_autonomous()
model.image_id = 123
model.time_stamp = 1547453775.2
model.cropped_path = '/im/a/totally/real/cropped/path/i/swear.jpg'
model.crop_coordinate_br = "(12, 34)"
model.crop_coordinate_tl = "(56, 78)"
self.assertNotEqual(dao.addImage(model), -1)
dao = IncomingImageDAO(defaultConfigPath())
model = incoming_image()
model.time_stamp = 1547453775.2
model.focal_length = 16.0
model.image_path = '/im/a/totally/real/path/i/swear.jpg'
model.manual_tap = True
model.autonomous_tap = True
resultingId = dao.addImage(model)
self.assertNotEqual(resultingId, -1)
util = UtilDAO(defaultConfigPath())
util.resetAutonomousDB()
resultingModel = dao.getImage(resultingId)
self.assertIsNotNone(resultingModel)
self.assertFalse(resultingModel.autonomous_tap)
self.assertTrue(resultingModel.manual_tap)
self.assertEqual(resultingModel.image_path, model.image_path)
self.assertEqual(resultingModel.focal_length, model.focal_length)
dao = CroppedAutonomousDAO(defaultConfigPath())
self.assertEqual(len(dao.getAll()), 0)
dao = OutgoingAutonomousDAO(defaultConfigPath())
self.assertEqual(len(dao.getAll()), 0)
def getAll(self):
"""
Get info on all images currently in the table. Currently just used
for testing
"""
selectAllSql = """SELECT image_id, date_part('epoch', time_stamp), focal_length, image_path, manual_tap, autonomous_tap
FROM incoming_image;"""
cur = self.conn.cursor()
cur.execute(selectAllSql)
results = []
for row in cur:
incomingImg = incoming_image(row)
results.append(incomingImg)
return results
def setupIncomingImageTable(rawImgPath):
dao = IncomingImageDAO(defaultConfigPath())
incModel = incoming_image()
incModel.focal_length = 16.0
incModel.time_stamp = 1547453775.2
incModel.image_path = rawImgPath
incModel.manual_tap = False
incModel.autonomous_tap = False
incImageId1 = dao.addImage(incModel)
assert incImageId1 != -1
# just gonna use a slightly different number so we can tell the difference between the two inserts
incModel.focal_length = 17.0
incImageId2 = dao.addImage(incModel)
assert incImageId2 != -1
return (incImageId1, incImageId2)
def __init__(self):
print("Startup NEW (Mar 2020) ros imaging handler...")
currentPath = os.path.dirname(os.path.realpath(__file__))
self.configPath = rospy.get_param('~config_path', defaultConfigPath())
self.bridge = CvBridge()
# gps ingestion setup:
self.gps_dao_ = IncomingGpsDAO(self.configPath)
self.gps_subscriber_ = rospy.Subscriber('/gps',
GPS,
self.gpsCallback,
queue_size=10)
# self.gps_subscriber_ = rospy.Subscriber('/state', State, self.gpsCallback, queue_size=10)
self.gps_msg_ = incoming_gps()
# imaging ingestion setup:
self.img_dao_ = IncomingImageDAO(self.configPath)
self.img_subscriber_ = rospy.Subscriber(
"/a6000_ros_node/img/compressed",
CompressedImgWithMeta,
self.imgCallback,
queue_size=10)
self.img_msg_ = incoming_image()
self.img_msg_.focal_length = 16.0 # this is a safe starting assumption == fully zoomed out on a6000
self.img_msg_.manual_tap = False
self.img_msg_.autonomous_tap = False
# state ingestion setup:
self.state_dao_ = IncomingStateDAO(self.configPath)
self.state_subscriber_ = rospy.Subscriber('/state',
State,
self.stateCallback,
queue_size=10)
self.state_msg_ = incoming_state()
self.state_interval_ = 0
basePath = createNewBaseImgDir()
print("Base dir for images:: {}".format(basePath))
# service for completed targets. Once a target has gone through the entire
# system, the server puts the finished target in a table and marks it ready for submission
self.submit_image_ = None
print("ROS subscribers are all setup!")
self.geod = Geodesic.WGS84
def getImage(self, id):
"""
Attempts to get the image with the specified id
@type id: int
@param id: The id of the image to try and retrieve
@rtype: incoming_image
@return: An incoming_image with the info for that image if successfully found, otherwise None
"""
selectImgById = """SELECT image_id, date_part('epoch', time_stamp), focal_length, image_path, manual_tap, autonomous_tap
FROM incoming_image
WHERE image_id = %s
LIMIT 1;"""
selectedImage = super(IncomingImageDAO, self).basicTopSelect(selectImgById, (id,))
if selectedImage is None:
return None
return incoming_image(selectedImage)
