def __init__(self, display_servers, cams, mask_dir, trigger):
self.mask_dir = mask_dir
cam_handlers = []
#turn on projectors
for d in display_servers:
dsc = display_client.DisplayServerProxy(d,wait=True)
dsc.enter_2dblit_mode()
dsc.show_pixels(dsc.new_image(dsc.IMAGE_COLOR_WHITE))
for cam in cams:
rospy.loginfo("Generating mask for cam %s" % cam)
cam_handlers.append(CameraHandler(cam,debug=False))
self.trigger_proxy_rate = rospy.ServiceProxy(trigger+'/set_framerate', camera_trigger.srv.SetFramerate)
self.trigger_proxy_rate(1.0)
rospy.loginfo("Set framerate to 1fps")
self.runner = SimultaneousCameraRunner(cam_handlers)
s = rospy.Service('~mask_start', std_srvs.srv.Empty, self._change_mode_start)
s = rospy.Service('~mask_finish', std_srvs.srv.Empty, self._change_mode_finish)
self.mode = self.MODE_WAIT
class GenMasks:
MODE_WAIT = 0
MODE_FINISHED = 1
MODE_COLLECT = 2
def __init__(self, display_servers, cams, mask_dir, trigger):
self.mask_dir = mask_dir
cam_handlers = []
#turn on projectors
for d in display_servers:
dsc = display_client.DisplayServerProxy(d,wait=True)
dsc.enter_2dblit_mode()
dsc.show_pixels(dsc.new_image(dsc.IMAGE_COLOR_WHITE))
for cam in cams:
rospy.loginfo("Generating mask for cam %s" % cam)
cam_handlers.append(CameraHandler(cam,debug=False))
self.trigger_proxy_rate = rospy.ServiceProxy(trigger+'/set_framerate', camera_trigger.srv.SetFramerate)
self.trigger_proxy_rate(1.0)
rospy.loginfo("Set framerate to 1fps")
self.runner = SimultaneousCameraRunner(cam_handlers)
s = rospy.Service('~mask_start', std_srvs.srv.Empty, self._change_mode_start)
s = rospy.Service('~mask_finish', std_srvs.srv.Empty, self._change_mode_finish)
self.mode = self.MODE_WAIT
def _change_mode_start(self, req):
self.mode = self.MODE_COLLECT
return std_srvs.srv.EmptyResponse()
def _change_mode_finish(self, req):
self.mode = self.MODE_FINISHED
return std_srvs.srv.EmptyResponse()
def run(self):
while not rospy.is_shutdown() and self.mode != self.MODE_FINISHED:
if self.mode == self.MODE_WAIT:
pass
elif self.mode == self.MODE_COLLECT:
rospy.loginfo("Collecting images")
self.runner.get_images(1)
imgs = self.runner.result_as_nparray
for cam in imgs:
fname = self.mask_dir + "/%s-new.png" % cam.split("/")[-1]
print fname, imgs[cam].shape,imgs[cam].dtype
scipy.misc.imsave(fname,imgs[cam].squeeze())
rospy.loginfo("wrote %s " % fname)
self.mode = self.MODE_WAIT
rospy.sleep(0.1)
