def RunVisualUtilityFilter(bag, nodeName):
# First go through the bag and get the parameters
paramList = [(NormalizeParamName(msg.name.data),
ToNumIfPossible(msg.value.data))
for topic, msg, t in bag.read_messages(topics=['parameters'])]
paramList.append(('visual_debugging', True))
parameters = ParameterSetter(nodeName, paramList)
# Start the visual utility filter
serviceName = '%s/filter_image_service' % nodeName
rospy.loginfo('Running the visual utility filter')
proc = subprocess.Popen([
'rosrun', 'visual_utility', 'VisualUtilityFilterNode',
'__name:=' + nodeName,
'image:=%s/left_image' % nodeName,
'filtered/image:=%s/filtered/image' % nodeName,
'object_detected:=%s/object_detected' % nodeName,
'processing_time:=%s/processing_time' % nodeName,
'debug/vuestimate:=%s/debug/vuestimate' % nodeName,
'debug/mosaic:=%s/debug/mosaic' % nodeName,
'debug/frameImage:=%s/debug/frameImage' % nodeName,
'filter_image_service:=%s' % serviceName
])
rospy.loginfo('Waiting for the visual utility filter to startup')
rospy.wait_for_service(serviceName, timeout=6000)
rospy.loginfo('Visual utility filter is running')
serviceProxy = rospy.ServiceProxy(serviceName, FilterImage)
return (proc, parameters, serviceProxy)
def StartSpeciesIDNode(outputDir, namespace, outBag, bagTime, paramList,
indexFilename):
rospy.loginfo('Running the SpeciesIDNode')
nodeName = '%s_species_id_node' % namespace
serviceName = '%s/detect_object_grid_service' % nodeName
params = copy.deepcopy(paramList)
params.append(('index_file', indexFilename))
parameterHandler = ParameterSetter(nodeName, params, outBag, 'parameters',
bagTime)
vuEnv = os.environ
#vuEnv['CPUPROFILE'] = '/home/mdesnoye/tmp/fish_classifier.prof'
proc = subprocess.Popen([
'bin/SpeciesIDRosNode', '__name:=' + nodeName,
'__log:=%s/%s_log.out' % (outputDir, nodeName),
'species_id_grid_service:=%s' % serviceName
],
env=vuEnv)
rospy.loginfo('Waiting for the SpeciesIDNode to startup')
rospy.wait_for_service(serviceName, timeout=6000)
rospy.loginfo('SpeciesIDNode is running')
serviceProxy = rospy.ServiceProxy(serviceName, SpeciesIDGrid)
return (proc, parameterHandler, serviceProxy)
def StartPersonDetector(outputDir, namespace, modelFile, personCascade,
personThresh, parameterBag, bagTime):
rospy.loginfo('Running the person detector')
nodeName = '%s_person_detector' % namespace
serviceName = '%s/detect_object_service' % nodeName
parameters = ParameterSetter(nodeName, [('model_file', modelFile),
('thresh', personThresh),
('do_cascade', personCascade)],
parameterBag, 'parameters', bagTime)
proc = subprocess.Popen([
'rosrun', 'cascade_parts_detector', 'CascadePartsDetectorNode',
'__name:=' + nodeName,
'__log:=%s/%s_log.out' % (outputDir, nodeName),
'detect_object_service:=%s' % serviceName,
'detect_object:=%s/detect_object' % nodeName,
'object_detected:=%s/object_detected' % nodeName,
'processing_time:=%s/processing_time' % nodeName
])
rospy.loginfo('Waiting for the person detector to come up')
rospy.wait_for_service(serviceName, timeout=6000)
rospy.loginfo('Person detector is running')
serviceProxy = rospy.ServiceProxy(serviceName, DetectObject)
return (proc, parameters, serviceProxy)
def StartSubDetector(outputDir, namespace, nodeName, outBag, bagTime,
parameterList):
rospy.loginfo('Running the subdetector %s' % nodeName)
nodeId = '%s_%s' % (namespace, nodeName)
serviceName = '%s/detect_object_service' % nodeId
parameters = ParameterSetter(nodeId, parameterList, outBag,
'parameters_%s' % nodeName, bagTime)
vuEnv = os.environ
#vuEnv['CPUPROFILE'] = '/home/mdesnoye/tmp/%s_%s.prof' % (nodeName, namespace)
#rospy.loginfo('Profiling the visual utility estimator to %s' %
# vuEnv['CPUPROFILE'])
proc = subprocess.Popen([
'../visual_utility/bin/VisualUtilityEstimatorNode',
'__name:=' + nodeId,
'__log:=%s/%s_log.out' % (outputDir, nodeId),
'vu_objdetect_service:=%s' % serviceName
],
env=vuEnv)
rospy.loginfo('Waiting for %s to startup' % nodeId)
rospy.wait_for_service(serviceName, timeout=6000)
rospy.loginfo('%s is running' % nodeId)
serviceProxy = rospy.ServiceProxy(serviceName, DetectObjectService)
return (proc, parameters, serviceProxy)
def StartVisualUtilityEstimator(outputDir, namespace, outBag, bagTime,
options):
rospy.loginfo('Running the Visual Utility Estimator')
nodeName = '%s_vu_estimator' % namespace
serviceName = '%s/detect_object_grid_service' % nodeName
parameterList = [('affine_max_iterations', options.affine_max_iterations),
('min_affine_precision', options.min_affine_precision),
('affine_scaling_factor', options.affine_scaling_factor),
('vu_estimator', options.vu_estimator),
('vu_estimator_wrapper', options.vu_estimator_wrapper),
('pareto_thresh', options.pareto_thresh),
('dist_decay', options.dist_decay),
('opening_size', options.opening_size),
('laplacian_size', options.laplacian_size),
('hist_dist_type', options.hist_dist_type),
('estimator_scales', options.estimator_scales),
('hog_model_file', options.hog_model_file),
('hog_do_people', options.hog_do_people),
('hog_do_cache', options.hog_do_cache),
('win_stride', options.win_stride),
('img_scaling', options.img_scaling),
('cascade_model_file', options.cascade_model_file)]
parameters = ParameterSetter(nodeName, parameterList, outBag, 'parameters',
bagTime)
vuEnv = os.environ
#vuEnv['CPUPROFILE'] = '/home/mdesnoye/tmp/vu_saliency.prof'
proc = subprocess.Popen([
'../visual_utility/bin/VisualUtilityEstimatorNode',
'__name:=' + nodeName,
'__log:=%s/%s_log.out' % (outputDir, nodeName),
'vu_objdetect_grid_service:=%s' % serviceName
],
env=vuEnv)
rospy.loginfo('Waiting for the visual utility estimator to startup')
rospy.wait_for_service(serviceName, timeout=6000)
rospy.loginfo('Visual utility filter is running')
serviceProxy = rospy.ServiceProxy(serviceName, DetectObjectGridService)
return (proc, parameters, serviceProxy)
def StartVisualUtilityFilter(outputDir, namespace, transformEstimator,
affineMaxIterations, minAffinePrecision,
affineScalingFactor, vuEstimator, paretoThresh,
distDecay, vuMosaic, morphCloseSize, gaussSigma,
frameEstimator, frameExpansion, framesize,
minFrameArea, minEntropy, parameterBag, bagTime):
rospy.loginfo('Running the visual utility filter')
nodeName = '%s_vufilter' % namespace
serviceName = '%s/filter_image_service' % nodeName
parameters = ParameterSetter(
nodeName, [('affine_max_iterations', affineMaxIterations),
('min_affine_precision', minAffinePrecision),
('affine_scaling_factor', affineScalingFactor),
('vu_estimator', vuEstimator),
('pareto_thresh', paretoThresh), ('dist_decay', distDecay),
('frame_estimator', frameEstimator),
('frame_expansion', frameExpansion),
('morph_close_size', morphCloseSize),
('gauss_sigma', gaussSigma), ('xframesize', framesize[0]),
('yframesize', framesize[1]),
('min_frame_area', minFrameArea),
('min_entropy', minEntropy)], parameterBag, 'parameters',
bagTime)
proc = subprocess.Popen([
'rosrun', 'visual_utility', 'VisualUtilityFilterNode',
'__name:=' + nodeName,
'__log:=%s/%s_log.out' % (outputDir, nodeName),
'image:=%s/left_image' % nodeName,
'filtered/image:=%s/filtered/image' % nodeName,
'object_detected:=%s/object_detected' % nodeName,
'processing_time:=%s/processing_time' % nodeName,
'filter_image_service:=%s' % serviceName
])
rospy.loginfo('Waiting for the visual utility filter to startup')
rospy.wait_for_service(serviceName, timeout=6000)
rospy.loginfo('Visual utility filter is running')
serviceProxy = rospy.ServiceProxy(serviceName, FilterImage)
return (proc, parameters, serviceProxy)