Example #1
0
 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)
Example #2
0
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
Example #3
0
 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)
Example #4
0
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
Example #5
0
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