def publish_hfl_data():
# subscribe the HFL request to receive the timestamp and file name
while ecal.ok():
ret, msg, time = hfl_subscr_obj.receive(500)
# print("---:: ", ret, msg, time, type(msg))
if msg is not None:
hfl_req_proto_obj.ParseFromString(msg)
idx_req = hfl_req_proto_obj.image_index
# timestamp = int(timestamp)
print("--->", idx_req, h5_filename)
h5file_obj = H5ReaderSequence(h5_filename)
timestamp, inten_data, dist_data = h5file_obj.loadData(
h5_filename, int(idx_req))
print("timestamp :: ", timestamp)
hfl_resp_proto_obj.timestamp = int(timestamp)
hfl_resp_proto_obj.HFL_image_index = int(idx_req)
if inten_data != '' or dist_data != '':
hfl_resp_proto_obj.intensity_image = inten_data
hfl_resp_proto_obj.distance_image = dist_data
else:
hfl_resp_proto_obj.intensity_image = inten_data
hfl_resp_proto_obj.distance_image = dist_data
hfl_publs_obj.send(hfl_resp_proto_obj.SerializeToString())
def define_subscr_callbacks(self):
# For Image data
self.lt5_img_subscr_obj.set_callback(self.predict_tracker_result)
self.lt5_finl_subscr_obj.set_callback(self.abort_algo)
while ecal.ok() and BEXIT:
# print("#########################", BEXIT)
time.sleep(0.1)
if ALGO_READINESS:
self.inform_tracker_ready()
def define_subscr_callbacks(self):
self.pnt_cld_dvc_subscr_obj.set_callback(self.pub_pnt_cld_dvc_data)
self.pnt_cld_data_subscr_obj.set_callback(self.pub_pnt_cld_points_data)
self.pnt_cld_end_subscr_obj.set_callback(self.abort_algo)
print("Point Cloud service initialized")
while ecal.ok() and BEXIT:
time.sleep(0.1)
if SERVICE_READINESS:
self.inform_model_loaded()
def define_subscr_callbacks(self):
# For device data
# Deprecating device request
# self.h5_dvc_subscr_obj.set_callback(self.pub_dvc_data)
# For Channel data
self.h5_chnl_subscr_obj.set_callback(self.pub_chnl_data)
# For Image data
self.h5_img_subscr_obj.set_callback(self.pub_img_data)
while ecal.ok():
time.sleep(0.1)
def subscribe_signl_names():
ecal.initialize(sys.argv, "Detector mask subscriber")
subscribe_sig_names_obj = ecal.subscriber(topic_name="Pixel_Response")
rdr_sig_response = AlgoInterface_pb2.LabelResponse()
while ecal.ok():
ret, msg, time = subscribe_sig_names_obj.receive(500)
print("---:: ", ret, msg, time, type(msg))
if msg is not None:
rdr_sig_response.ParseFromString(msg)
object_attibute_lst = rdr_sig_response.NextAttr
# print("object_attibute :: ", object_attibute_lst)
for evry_obj_attr in object_attibute_lst:
track_id = evry_obj_attr.trackID
# print("track_id ::> ", track_id)
class_obj = evry_obj_attr.type.object_class
# print("class_obj :: ", class_obj)
x1 = evry_obj_attr.ROI[0].X
y1 = evry_obj_attr.ROI[0].Y
x2 = evry_obj_attr.ROI[1].X
y2 = evry_obj_attr.ROI[1].Y
x3 = evry_obj_attr.ROI[2].X
y3 = evry_obj_attr.ROI[2].Y
x4 = evry_obj_attr.ROI[3].X
y4 = evry_obj_attr.ROI[3].Y
print("ordinates :: ", x1, x2, x3, x4, y1, y2, y3, y4)
mask = evry_obj_attr.mask
with open('img.txt', 'w+') as fhandle:
fhandle.write(str(mask))
nparr = np.fromstring(mask, np.uint8)
print("nparr :: ", nparr)
re_img_np_ary = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
img_shape = re_img_np_ary.shape
print("shape::", img_shape)
cv2.imwrite('color_img.jpg', re_img_np_ary)
cv2.imshow('Color image', re_img_np_ary)
cv2.waitKey(0)
cv2.destroyAllWindows()
def subscribe_ecal_msgs(self):
print "Subscribing to the signals.........."
# Publish the signal values
bsig_obj = None
# Subscribe on the algo interface object
bsig_proto_req_obj = Radar_pb2.BsigDataRequest()
bsig_proto_resp_obj = Radar_pb2.BsigDataResponse()
while ecal.ok():
ret, msg, time = self.bsig_subscr_obj.receive(500)
# print("---:: ", ret, msg, time, type(msg))
if msg is not None:
start_time = datetime.now()
bsig_proto_req_obj.ParseFromString(msg)
bsig_pth = bsig_proto_req_obj.bsigPath
obj_num = bsig_proto_req_obj.objectIdCount
tmstamp_rdr = bsig_proto_req_obj.timestamp
# Segregate object signals and non-object signals
cmn_signals = [ech_sig for ech_sig in bsig_proto_req_obj.signalNames if '%' not in str(ech_sig)]
obj_signals = [ech_sig for ech_sig in bsig_proto_req_obj.signalNames if '%' in str(ech_sig)]
print "--> ", bsig_pth, obj_num
# print "cmn_signals :: ",
# if len(cmn_signals) == 1 and 'TimeStamp' in str(cmn_signals[0])
try:
if bsig_obj is None:
print "{{{{"
bsig_obj = signalreader.BsigReader(bsig_pth)
# print("bsig_obj >> ", bsig_obj)
# Read and Publish the common signals velocity, acceleration just once
print "Reading common signals..."
for ech_cmn_signal in cmn_signals:
cmn_sig_val_lst = list(bsig_obj.signal(ech_cmn_signal))
# print "cmn_sig_val_lst >> ", cmn_sig_val_lst
if len(cmn_signals) == 1 and 'TimeStamp' in str(cmn_signals[0]):
# self.publ_timestamps()
self.bsig_tmstamp_lst.extend(cmn_sig_val_lst)
if self.bsig_tmstamp_lst:
# Get the index/sample count for the timestamp
if tmstamp_rdr != -1:
try:
sample_cnt = self.bsig_tmstamp_lst.index(tmstamp_rdr)
# print "cmn_sig_val_lst :: ", cmn_sig_val_lst
print "sample_cnt >> ", sample_cnt, cmn_sig_val_lst[sample_cnt]
cmn_sig_val_lst = [cmn_sig_val_lst[sample_cnt]]
except ValueError as e:
print "No signal value for this timestamp %d and signal %s" % (tmstamp_rdr, ech_cmn_signal)
pass
else:
print "TimeStamp data not fetched from Bsig file"
continue
ech_sig_data = bsig_proto_resp_obj.eachSigValues.add()
# If data is present for signal send the values else do not send anything
# print "cmn_sig_val_lst :: ", cmn_sig_val_lst
if cmn_sig_val_lst:
ech_sig_data.signalName = ech_cmn_signal
ech_sig_data.objectId = -1
for ech_sig_val in cmn_sig_val_lst:
ech_sig_data.signalvalues.append(ech_sig_val)
# else:
# ech_sig_data.signalvalues.append(0)
# Iterate over the objects
if tmstamp_rdr != -1:
for ech_obj_num in range(0, obj_num):
print "Reading signals for object %s" % str(ech_obj_num)
# print("ech_obj_num > ", ech_obj_num)
# Parse the signal names and iterate over them
for ech_signal in obj_signals:
if '%' in str(ech_signal):
ech_signal = ech_signal.replace('%', str(ech_obj_num))
print("ech_signal > ", ech_signal)
obj_sig_val_lst = list(bsig_obj.signal(ech_signal))
ech_obj_sig_data = bsig_proto_resp_obj.eachSigValues.add()
# If data is present for signal send the values else do not send anything
if obj_sig_val_lst:
if self.bsig_tmstamp_lst:
# Get the index/sample count for the timestamp
if tmstamp_rdr != -1:
try:
sample_cnt = self.bsig_tmstamp_lst.index(tmstamp_rdr)
# print "cmn_sig_val_lst :: ", cmn_sig_val_lst
print "sample_cnt >> ", sample_cnt, obj_sig_val_lst[sample_cnt]
obj_sig_val_lst = [obj_sig_val_lst[sample_cnt]]
except ValueError as e:
print "No signal value for this timestamp %d and signal %s" % (
tmstamp_rdr, ech_signal)
pass
else:
print "TimeStamp data not fetched from Bsig file"
continue
ech_obj_sig_data.signalName = ech_signal
ech_obj_sig_data.objectId = ech_obj_num
for ech_obj_sig_val in obj_sig_val_lst:
ech_obj_sig_data.signalvalues.append(ech_obj_sig_val)
# else:
# ech_obj_sig_data.signalvalues.append(0)
except signalreader.SignalReaderException, e:
print "Signal not found", str(e)
data_payload = bsig_proto_resp_obj.SerializeToString()
# print "data_payload :: ", data_payload
self.bsig_pub_obj.send(data_payload)
end_time = datetime.now()
duration = end_time - start_time
print("duration :: ", duration.total_seconds(), duration.total_seconds()/60)
roi_min_obj2.X = -1
roi_min_obj2.Y = -1
# Create ROI object for Xmax, Ymax
roi_max_obj3 = nextattr_obj.ROI.add()
roi_max_obj3.X = -1
roi_max_obj3.Y = -1
roi_max_obj4 = nextattr_obj.ROI.add()
roi_max_obj4.X = -1
roi_max_obj4.Y = -1
publisher_roi_obj.send(lbl_response_obj.SerializeToString())
#eCAL Subscriber begins here
while ecal.ok():
# Subscribe for the message which is an image encoded through protobuf
ret, msg, time = subscriber_obj.receive(500)
# print("---:: ", ret, msg, time, type(msg))
if msg is not None:
ld_req_obj.ParseFromString(msg)
print("received image", datetime.now())
# print("ld_req_obj :: ", ld_req_obj)
img_data_obj = ld_req_obj.base_image
print("recieved_timestamp :: ", ld_req_obj.recieved_timestamp)
img_data_str = img_data_obj
nparr = np.fromstring(img_data_str, np.uint8)
# print("nparr :: ", nparr)
re_img_np_ary = cv2.imdecode(nparr, cv2.IMREAD_COLOR)
# print("re_img_np_ary :: ", re_img_np_ary)
img_shape = re_img_np_ary.shape