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bagfile_labeler.py
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bagfile_labeler.py
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import sys
from PyQt4 import QtGui, QtCore
from matplotlib.backends.backend_qt4agg import FigureCanvasQTAgg as FigureCanvas
from matplotlib.backends.backend_qt4agg import NavigationToolbar2QT as NavigationToolbar
from matplotlib.figure import Figure
from bagfile_io.bagfile_reader import bagfile_reader,write_to_bagfile
from cv_bridge import CvBridge
import numpy as np
from plot_generator import plotResult_colorbars,get_color_map
from matplotlib.widgets import RectangleSelector
from copy import deepcopy
from std_msgs.msg import String
import rosbag
class Window(QtGui.QDialog):
topic_types = ["WrenchStamped"]
def __init__(self, parent=None,inbag = "./data/cup_grasp1.bag",
outbag = "./data/cup_grasp1_out.bag",
image_topic = "/usb_cam_node/image_raw",
signal_topic = "/ftmini40",labels_topic = "/labels"):
super(Window, self).__init__(parent)
self.image_topic = image_topic
self.signal_topic = signal_topic
self.inbag = inbag
self.outbag = outbag
self.labels_topic = labels_topic
# creating the figure instances
self.figure_image = Figure()
self.figure_image.set_facecolor('white')
self.figure_signal = Figure()
self.figure_signal.set_facecolor('white')
self.figure_labels = Figure()
self.figure_labels.set_facecolor('white')
self.figure_timeline = Figure()
self.figure_timeline.set_facecolor('white')
# creating the canvas and widgets
self.canvas = FigureCanvas(self.figure_image)
self.toolbar = NavigationToolbar(self.canvas, self)
self.bagfilepath = QtGui.QLineEdit(self.canvas)
self.bagfileoutpath = QtGui.QLineEdit(self.canvas)
self.imagetopic = QtGui.QComboBox(self.canvas)
self.signaltopic = QtGui.QComboBox(self.canvas)
self.topictypes = QtGui.QComboBox(self.canvas)
self.labelsimage = FigureCanvas(self.figure_labels)
self.currentlabel = QtGui.QLineEdit(self.canvas)
self.slider = QtGui.QSlider(QtCore.Qt.Horizontal, self.canvas)
self.signalplot = FigureCanvas(self.figure_signal)
self.timeline = FigureCanvas(self.figure_timeline)
self.button_update = QtGui.QPushButton('update')
self.button_update.clicked.connect(self.update_labels)
self.button_create = QtGui.QPushButton('create out bag file')
self.button_create.clicked.connect(self.create_button_callback)
# creating the layout
layout = QtGui.QGridLayout()
layout.addWidget(self.bagfilepath, 0, 0,1,2)
layout.addWidget(self.bagfileoutpath, 1, 0,1,2)
layout.addWidget(self.imagetopic, 2, 0,1,2)
layout.addWidget(self.signaltopic, 3, 0)
layout.addWidget(self.topictypes, 3, 1)
layout.addWidget(self.canvas, 4, 0)
layout.addWidget(self.toolbar, 5, 0)
layout.addWidget(self.currentlabel, 5, 1)
layout.addWidget(self.labelsimage, 4, 1)
layout.addWidget(self.slider, 6, 0,1,2)
layout.addWidget(self.signalplot, 7, 0,1,2)
# layout.addWidget(self.timeline, 8, 0,1,2)
layout.addWidget(self.button_update, 8, 0)
layout.addWidget(self.button_create, 8, 1)
self.layout = layout
self.setLayout(self.layout)
# initial setup done
self.bf = bagfile_reader(inbag)
# if self.bf is None: raise ValueError('Bag file cannot be read!')
self.images, self.image_t = self.bf.get_topic_msgs(self.image_topic)
self.signal, self.signal_t= self.bf.get_topic_msgs(self.signal_topic)
self.topics = self.bf.topics
if labels_topic not in self.topics:
print "creating labels signal for bag file"
self.labels_t = deepcopy(self.signal_t)
# Note labels can only be a max of 100 characters
self.labels = np.array([""]*len(self.labels_t)).astype('a100')
else:
self.labels,self.labels_t = self.bf.get_topic_msgs(labels_topic)
self.labels = [label.data for label in self.labels]
self.label_names = list(set(self.labels))
print self.label_names
# method sets the widgets up such as populating combo boxes and filling in text
self.setup_widgets()
def setup_widgets(self):
# I'm hard coding a lot of this
self.bagfilepath.setText(QtCore.QString(self.inbag))
self.bagfilepath.setToolTip(QtCore.QString("the input bag file"))
self.bagfileoutpath.setText(QtCore.QString(self.outbag))
self.bagfileoutpath.setToolTip(QtCore.QString("the output bag file with the label names"))
self.signaltopic.setToolTip(QtCore.QString("signal topic"))
self.imagetopic.setToolTip(QtCore.QString("image topic"))
for item in self.topics:
qstring = QtCore.QString(item)
self.imagetopic.addItem(qstring)
for item in self.topics:
qstring = QtCore.QString(item)
self.signaltopic.addItem(qstring)
for item in self.topic_types:
qstring = QtCore.QString(item)
self.topictypes.addItem(qstring)
#plotting
self.setup_plot()
# slider setup
self.slider.setMinimum(0)
self.slider.setMaximum(len(self.signal_t))
# setting up figures
self.setup_image()
self.setup_plot()
self.canvas.draw()
self.update_labels_plot()
# setting up callbacks
# self.bagfilepath.textChanged.connect(self.update_inbag_file)
self.slider.valueChanged.connect(self.slider_callback)
def line_select_callback(self, eclick, erelease):
"""eclick and erelease are the press and release events"""
self.x1, self.y1 = eclick.xdata, eclick.ydata
self.x2, self.y2 = erelease.xdata, erelease.ydata
self.extents = self.RS.extents
def update_labels_plot(self):
#TODO update the labels plot here
num_labels = len(self.label_names)
color_map = get_color_map(self.label_names)
self.figure_labels.clf()
for ii,label in enumerate(self.label_names):
current_ax = self.figure_labels.add_subplot(num_labels,1,ii + 1)
current_ax.imshow([[color_map[ii]]])
current_ax.text(0,0,str(label),ha = "center")
current_ax.axis("Off")
self.labelsimage.draw()
def setup_plot(self):
self.ax = self.figure_signal.add_subplot(2,1,1)
self.vl = self.ax.axvline(self.signal_t[0], color='r', linewidth=3)
'''Hard coded for WrenchStamped change later'''
# TODO functionality to change topic type
fx = np.array([element.wrench.force.x for element in self.signal])
fy = np.array([element.wrench.force.y for element in self.signal])
fz = np.array([element.wrench.force.z for element in self.signal])
tx = [element.wrench.torque.x for element in self.signal]
ty = [element.wrench.torque.y for element in self.signal]
tz = [element.wrench.torque.z for element in self.signal]
t = np.array(self.signal_t)
self.ax.plot(t,fx)
self.ax.plot(t,fy)
self.ax.plot(t,fz)
self.ax.axis("Off")
# self.ax.plot(t,tx,'k')
# self.ax.plot(t,ty,'k')
# self.ax.plot(t,tz,'k')
self.RS = RectangleSelector(self.ax, self.line_select_callback,
drawtype='box', useblit=True,
button=[1, 3], # don't use middle button
interactive=True)
self.ax_timeline = self.figure_signal.add_subplot(2,1,2)
self.vl_timeline = self.ax_timeline.axvline(self.signal_t[0], color='r', linewidth=3)
self.label_names = list(set(self.labels))
plotResult_colorbars(self.labels,
self.labels_t, ax=self.ax_timeline,labelNames=self.label_names)
self.ax.set_xlim([t[0], t[-1]])
self.ax_timeline.set_xlim([t[0], t[-1]])
self.signalplot.draw()
def update_inbag_file(self,text):
print "text changed" + text
#TODO
pass
def update_outbag_file(self,text):
print "text changed" + text
pass
def slider_callback(self,value):
self.vl.set_xdata(self.signal_t[value])
self.vl_timeline.set_xdata(self.signal_t[value])
if len(self.image_t) == 0:
return
else:
image_id = np.argmax(self.image_t > self.signal_t[value])
imdata = self.bridge.imgmsg_to_cv2(self.images[image_id], "rgb8")
self.im_ax.set_data(imdata)
self.canvas.draw()
self.signalplot.draw()
def setup_image(self):
''' updates the image'''
# create an axis
ax = self.figure_image.add_subplot(111)
# discards the old graph
ax.clear()
self.bridge = CvBridge()
if len(self.image_t) == 0:
return
else:
img = self.bridge.imgmsg_to_cv2(self.images[0], "rgb8")
self.im_ax = ax.imshow(img)
ax.axis("Off")
# refresh canvas
self.canvas.draw()
def update_labels(self):
x_min = float(self.extents[0])
x_max = float(self.extents[1])
# print str((self.currentlabel.text().toAscii()))
x_min_id = int(np.argmax(self.labels_t > x_min))
x_max_id = int(np.argmax(self.labels_t > x_max))
for ii in range(x_min_id,x_max_id):
self.labels[ii] = str(self.currentlabel.text().toAscii())
self.label_names = list(set(self.labels))
self.update_labels_plot()
plotResult_colorbars(self.labels,
self.labels_t, ax=self.ax_timeline,labelNames=self.label_names)
self.ax_timeline.set_xlim([self.signal_t[0], self.signal_t[-1]])
self.signalplot.draw()
def create_button_callback(self):
string_message_list = []
for label in self.labels:
message = String()
message.data = label
string_message_list.append(message)
self.outbag = self.bagfileoutpath.text()
print "Writing! Please be patient"
with rosbag.Bag(self.outbag, 'w') as outbag:
for topic, msg, t in rosbag.Bag(self.inbag).read_messages():
# This also replaces tf timestamps under the assumption
# that all transforms in the message share the same timestamp
if topic == self.labels_topic:
pass
else:
outbag.write(topic, msg, msg.header.stamp if msg._has_header else t)
write_to_bagfile(self.outbag,self.labels_topic,string_message_list,self.labels_t,'a',createbackup=True)
print "Done Writing: ", self.outbag, "!"
if __name__ == '__main__':
app = QtGui.QApplication(sys.argv)
main = Window()
main.show()
sys.exit(app.exec_())