import roslib
roslib.update_path('visual_odometry')
import rospy
import math
import sys
import time
import Image
sys.path.append('lib')
from stereo_utils import camera
from stereo_utils.stereo import SparseStereoFrame
from stereo_utils.descriptor_schemes import DescriptorSchemeCalonder, DescriptorSchemeSAD
from stereo_utils.feature_detectors import FeatureDetectorFast, FeatureDetector4x4, FeatureDetectorStar, FeatureDetectorHarris
from visual_odometry.pe import PoseEstimator
Fx = 389.0
Fy = 389.0
Tx = 0.08923
Clx = 323.42
Crx = 323.42
Cy = 274.95
# Camera
cam = camera.Camera((Fx, Fy, Tx, Clx, Crx, Cy))
# Feature Detector
fd = FeatureDetectorFast(300)
# Descriptor Scheme
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import roslib
roslib.update_path('kinematic_calibration')
import rospy
import sys
import rosrecord
filename = sys.argv[1]
framecounter = 1
print "Starting Playback"
f = filename
keys = set()
headers = []
headers_file = open("joint_names.txt", "w")
pos_file = open("joint_pos.txt", "w")
#!/usr/bin/python
"""
usage: %(progname)s annotation.xml
* Reads xml annotations for an image and extracts the polygons, each polygon outlines a hand
* Converts the polygons to oriented bounding boxes, where the orientation is given by the axis going from the middle of the wrist to the middle finger.
* The output format is: x, y, width, height, angle, flip
where x,y is the center of the box, angle is in radians, and flip is 0 if the thumb is on the left, 1 if it is on the right
"""
import roslib
roslib.load_manifest('hand_tracker')
roslib.update_path('test_roslaunch')
import unittest
import numpy
import cv
from hand_tracker import oriented_bounding_boxes
#----------------------------------------------------------------------
# Test functions
#----------------------------------------------------------------------
class TestHandToBox(unittest.TestCase):
def test_single_hand_outline_to_oriented_box(self):
# Can add other examples:
inputs = [[(140, 100), (100, 140), (60, 150), (40, 130), (20, 70),
(40, 20), (90, 30)]]
expected_outputs = [[
79.952076677316299, 86.198083067092639, 142.00644025354072,
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import roslib
roslib.update_path('actionlib')
import sys
import unittest
import rospy
from actionlib_msgs.msg import *
from actionlib import SimpleActionClient
from actionlib.msg import TestAction, TestGoal
class TestSimpleActionClient(unittest.TestCase):
def testsimple(self):
client = SimpleActionClient('reference_action', TestAction)
self.assert_(
client.wait_for_action_server_to_start(rospy.Duration(10.0)),
'Could not connect to the action server')