def pub_transformed(): pub = rospy.Publisher('pub_transformed', PoseStampedArray, queue_size=10) rospy.init_node('pub_transformed', anonymous=True) rate = rospy.Rate(1) # 10hz b = Bagger(filename=constants.DEMO_FILE) posarr = PoseStampedArray() posarr.header.frame_id = 'r_wrist_roll_link' posarr.header.stamp = rospy.get_rostime() posarr.poses = b.getTransformedPosesStamped() # print posarr while not rospy.is_shutdown(): pub.publish(posarr) rate.sleep()
def plot_transformed(): topic = 'visualization_transformed_marker_array' publisher = rospy.Publisher(topic, MarkerArray, queue_size=1000) rospy.init_node('plot_transformed',anonymous=True) r = rospy.Rate(1) b = Bagger(filename=constants.DEMO_FILE) alvar_markers = b.getTransformedMarkers() markerArray = MarkerArray() i = 0 l = len(alvar_markers) for alvar_marker in alvar_markers: # if not i: # print alvar_marker marker = Marker() marker.header.frame_id = alvar_marker.header.frame_id marker.header.stamp = rospy.get_rostime() marker.ns = "visualization_markers" marker.id = i marker.type = marker.SPHERE marker.action = marker.ADD marker.scale.x = 0.03 marker.scale.y = 0.03 marker.scale.z = 0.03 marker.color.a = 1.0 # marker.color.r = 1.0 # marker.color.g = 1.0 marker.color.r = i / l marker.color.g = (l-i)/l marker.color.b = 0.0 marker.pose = alvar_marker.pose.pose # We add the new marker to the MarkerArray, removing the oldest # marker from it when necessary # if(count > MARKERS_MAX): # markerArray.markers.pop(0) marker.lifetime = rospy.Duration(); markerArray.markers.append(marker) i+=1 while not rospy.is_shutdown(): publisher.publish(markerArray) # print "publishing transf marker arry" r.sleep()
def pub_teststates(): pub = rospy.Publisher('pub_teststates', PoseArray, queue_size=10) rospy.init_node('pub_teststates', anonymous=True) rate = rospy.Rate(1) # 10hz a = Bagger(filename=constants.TEST_FILE) markers = a.getMarkers() start_m = markers[0] goal_m = markers[-1] sg_markers = [start_m, goal_m] b = Bagger(filename=constants.DATA_FILE) # tranformed_sg_markers = b.transformStartGoal(sg_markers) posarr = PoseArray() posarr.header.frame_id = 'r_wrist_roll_link' posarr.header.stamp = rospy.get_rostime() posarr.poses = b.transformStartGoal(sg_markers) while not rospy.is_shutdown(): pub.publish(posarr) rate.sleep() print "publishing transformed_start_goal"
def experiment3(trees, train, test): # Bag'em learner = Bagger() learner.add_classifiers(trees) # Test print 'Testing ensemble against \'train\'' results = learner.test(train[0], train[1]) accuracy = sum(r[0] == r[1] for r in results) print '* Train Accuracy: {0}/{1} ({2:.4f})'.format( accuracy, len(results), float(accuracy) / len(results)) print 'Testing ensemble against \'test\'' results = learner.test(test[0], test[1]) accuracy = sum(r[0] == r[1] for r in results) print '* Test Accuracy: {0}/{1} ({2:.4f})'.format( accuracy, len(results), float(accuracy) / len(results))