Python initialize_rope Examples

Example #1

File: loop_initialize_rope.py Project: ankush-me/python

labelGetter = comm.FileGetter(args.label,"bmp",comm.SingleChannelImageMessage)
ropeInitPub = comm.FilePublisher(args.out,"txt")

prev_id = -1
while True:

    
    latest_id = getLastInd(args.label)
    print "latest id", latest_id
    if latest_id == prev_id:        
        sleep(.1)
        continue
    else:
        prev_id = latest_id    
    
    timePrevStart = time()

    xyz,bgr = pcdGetter.recv_id(latest_id).data
    label = labelGetter.recv_id(latest_id).data

    if label is None: raise Exception("could not read label file")
        
    try:
        xyzs,labels = initialize_rope(label,xyz, bgr,plotting=args.plotting)
        ropeInitPub.send(RopeInitMessage(data=(xyzs, labels)))    
        sleep(max(args.pause - (time() - timePrevStart),0))
    except Exception:
        print colorize("exception occurred in rope init:","red")
        traceback.print_exc()
    

Example #2

File: initialize_rope.py Project: ankush-me/python

#!/usr/bin/env python
import argparse, cv2, os

parser = argparse.ArgumentParser()
parser.add_argument("pcd_file")
parser.add_argument("label_file")
parser.add_argument("outfile")
parser.add_argument("--plotting",action="store_true")
args = parser.parse_args()

from jds_image_proc import pcd_io
from jds_image_proc.rope_initialization import initialize_rope,RopeInitMessage


xyz,bgr = pcd_io.load_xyzrgb(args.pcd_file)

# get rope mask
label_img = cv2.imread(args.label_file,0)
if label_img is None: raise Exception("could not read image %s"%args.label_file)

xyzs_unif,labels = initialize_rope(label_img,xyz, bgr,plotting=args.plotting)
if not os.path.exists(os.path.dirname(args.outfile)): os.mkdir(dirname(args.outfile))
print "writing",args.outfile
RopeInitMessage((xyzs_unif,labels)).toFiles(args.outfile,"/tmp/junk.json")

Example #3

#!/usr/bin/env python
import argparse, cv2, os

parser = argparse.ArgumentParser()
parser.add_argument("pcd_file")
parser.add_argument("label_file")
parser.add_argument("outfile")
parser.add_argument("--plotting", action="store_true")
args = parser.parse_args()

from jds_image_proc import pcd_io
from jds_image_proc.rope_initialization import initialize_rope, RopeInitMessage

xyz, bgr = pcd_io.load_xyzrgb(args.pcd_file)

# get rope mask
label_img = cv2.imread(args.label_file, 0)
if label_img is None:
    raise Exception("could not read image %s" % args.label_file)

xyzs_unif, labels = initialize_rope(label_img,
                                    xyz,
                                    bgr,
                                    plotting=args.plotting)
if not os.path.exists(os.path.dirname(args.outfile)):
    os.mkdir(dirname(args.outfile))
print "writing", args.outfile
RopeInitMessage((xyzs_unif, labels)).toFiles(args.outfile, "/tmp/junk.json")

Example #4

File: loop_initialize_rope.py Project: warriorarmentaix/lfd

pcdGetter = comm.FileGetter(args.pcd, "pcd", comm.PointCloudMessage)
labelGetter = comm.FileGetter(args.label, "bmp",
                              comm.SingleChannelImageMessage)
ropeInitPub = comm.FilePublisher(args.out, "txt")

prev_id = -1
while True:

    latest_id = getLastInd(args.label)
    print "latest id", latest_id
    if latest_id == prev_id:
        sleep(.1)
        continue
    else:
        prev_id = latest_id

    timePrevStart = time()

    xyz, bgr = pcdGetter.recv_id(latest_id).data
    label = labelGetter.recv_id(latest_id).data

    if label is None: raise Exception("could not read label file")

    try:
        xyzs, labels = initialize_rope(label, xyz, bgr, plotting=args.plotting)
        ropeInitPub.send(RopeInitMessage(data=(xyzs, labels)))
        sleep(max(args.pause - (time() - timePrevStart), 0))
    except Exception:
        print colorize("exception occurred in rope init:", "red")
        traceback.print_exc()