def receive_laser(UDP_PORT, timeout_limit):
sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) # UDP
sock.bind((UDP_IP, UDP_PORT))
sock.settimeout(timeout_limit)
sockets_list.append(sock)
while True:
try:
data = sock.recv(65536)
laser_data = LaserScan()
laser_data.deserialize(data)
np.save('laser', laser_data)
# print('Laser Data Received\n')
except timeout:
print('Error: Laser Data Timeout')
sys.exit(1)
def get_recorded_dataset(directories):
if isinstance(directories, str):
directories = [directories]
dataset = []
suffixes = {'sound': '.wav',
'meta': '.txt',
'mic_pose': '.msg',
'speaker_pose': '.msg',
'self_pose': '.msg',
'other_pose': '.msg',
'self_scan': '.msg',
'other_scan': '.msg'}
for directory in directories:
d_full = os.path.abspath(directory)
_dataset = {}
for f in os.listdir(d_full):
f_full = os.path.join(d_full, f)
for prefix, suffix in suffixes.items():
if f.startswith(prefix+'_') and f.endswith(suffix):
id = f[len(prefix)+1:-len(suffix)]
if id in _dataset:
entry = _dataset[id]
else:
entry = {}
_dataset[id] = entry
if prefix == 'sound':
entry['recorded_sound_file'] = f_full
elif prefix == 'meta':
with open(f_full, 'r') as _f:
entry.update(yaml.load(_f.read()))
elif prefix.endswith('pose'):
ps = PoseStamped()
with open(f_full, 'rb') as _f:
ps.deserialize(_f.read())
entry[prefix] = ps
elif prefix.endswith('scan'):
ls = LaserScan()
with open(f_full, 'rb') as _f:
ls.deserialize(_f.read())
entry[prefix] = ls
print 'Found {} entries in directory "{}"'.format(len(_dataset), d_full)
for k, v in _dataset.iteritems():
v['id'] = os.path.basename(directory)+'/'+k
dataset.append(v)
return dataset
points[1,:] += posemsg.position.y
points[2,:] += posemsg.position.z
return points
data_dir = os.path.abspath(sys.argv[1])
data_num = sys.argv[2]
rate, sound = wavfile.read(os.path.join(data_dir, 'sound_'+data_num+'.wav'))
sound = sound/32768.
channels = sound.shape[1]
mapmsg = OccupancyGrid()
with open(os.path.join(data_dir, 'map.msg'), 'rb') as f:
mapmsg.deserialize(f.read())
lscanmsg = LaserScan()
with open(os.path.join(data_dir, 'self_scan_'+data_num+'.msg'), 'rb') as f:
lscanmsg.deserialize(f.read())
rscanmsg = LaserScan()
with open(os.path.join(data_dir, 'other_scan_'+data_num+'.msg'), 'rb') as f:
rscanmsg.deserialize(f.read())
lposemsg = PoseStamped()
with open(os.path.join(data_dir, 'self_pose_'+data_num+'.msg'), 'rb') as f:
lposemsg.deserialize(f.read())
rposemsg = PoseStamped()
with open(os.path.join(data_dir, 'other_pose_'+data_num+'.msg'), 'rb') as f:
rposemsg.deserialize(f.read())
with open(os.path.join(data_dir, 'meta_'+data_num+'.txt'), 'rb') as f:
metadata = yaml.load(f.read())
_rate, _sound = wavfile.read(metadata['sound_file'])
if len(_sound.shape) == 1:
_sound = np.expand_dims(_sound, 1)
