def load_data_smoothed(filename, matrixID):
profileName = os.path.abspath(filename)
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(profileName);
#frameManager.set_filter_none()
#frameManager.set_filter_median(1, False)
frameManager.set_filter_gaussian(1, 0.85)
#frameManager.set_filter_bilateral(2, 1500, 1500)
#y = frameManager.get_max_matrix_list(matrixID)
y = frameManager.get_average_matrix_list(matrixID)
# Value of centroid taxel
#featureExtractor = framemanager_python.FeatureExtractionWrapper(frameManager)
#numFrames = frameManager.get_tsframe_count()
#y = np.empty([numFrames])
#for frameID in range(0,numFrames):
# centroid = np.rint(featureExtractor.compute_centroid(frameID, matrixID)).astype(int)
# y[frameID] = frameManager.get_texel(frameID, matrixID, centroid[0], centroid[1])
# Median of nonzero values
#numFrames = frameManager.get_tsframe_count()
#y = np.empty([numFrames])
#for frameID in range(0,numFrames):
# tsframe = frameManager.get_tsframe(frameID, matrixID)
# tsframe_nonzero = np.ma.masked_where(tsframe == 0, tsframe) # Restrict to nonzero values
# median = np.ma.median(tsframe_nonzero)
# y[frameID] = np.nan_to_num(median) # NaN to 0
timestamps = frameManager.get_tsframe_timestamp_list()
timestamps = (timestamps-timestamps[0]) / 1000.0 # Relative timestamps in seconds
return timestamps, y
def load_data(filename, matrixID):
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(filename);
averages = frameManager.get_average_matrix_list(matrixID)
timestamps = frameManager.get_tsframe_timestamp_list()
timestamps = (timestamps-timestamps[0]) / 1000.0 # Relative timestamps in seconds
return timestamps, averages
def loadGrasp(profileName):
frameManager = framemanager_python.FrameManagerWrapper()
features = framemanager_python.FeatureExtractionWrapper(frameManager)
frameManager.load_profile(profileName);
########################
# Tactile Sensor Frames
########################
numTSFrames = frameManager.get_tsframe_count();
max_matrix_1 = frameManager.get_max_matrix_list(1)
max_matrix_5 = frameManager.get_max_matrix_list(5)
timestamps_tsframe_raw = frameManager.get_tsframe_timestamp_list()
timestamps_tsframe = (timestamps_tsframe_raw-timestamps_tsframe_raw[0]) / 1000.0 # Relative timestamps in seconds
###########
# Features
###########
# Compute minibal for each tactile sensor frame
minimal_bounding_spheres = np.empty([numTSFrames, 4])
minimal_bounding_spheres.fill(None)
for frameID in xrange(0, numTSFrames):
if (max_matrix_1[frameID] > 0.0 and max_matrix_5[frameID] > 0.0) :
theta = frameManager.get_corresponding_jointangles(frameID) # Corresponding joint angles
minimal_bounding_spheres[frameID] = features.compute_minimal_bounding_sphere_centroid(frameID, theta)
return timestamps_tsframe, 2*minimal_bounding_spheres[:,3]
def load_data_taxel(filename, matrixID, x, y):
profileName = os.path.abspath(filename)
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(profileName);
texel = frameManager.get_texel_list(matrixID, x, y)
timestamps = frameManager.get_tsframe_timestamp_list()
timestamps = (timestamps-timestamps[0]) / 1000.0 # Relative timestamps in seconds
return timestamps, texel
def load_data_average(filename, matrixID):
profileName = os.path.abspath(filename)
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(profileName)
frameManager.set_filter_none()
averages = frameManager.get_average_matrix_list(matrixID)
timestamps = frameManager.get_tsframe_timestamp_list()
timestamps = (timestamps -
timestamps[0]) / 1000.0 # Relative timestamps in seconds
return timestamps, averages
def load_smoothed(filename, matrixID):
profileName = os.path.abspath(filename)
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(profileName)
frameManager.set_filter_gaussian(1, 0.85)
y = frameManager.get_average_matrix_list(matrixID)
#y = frameManager.get_max_matrix_list(matrixID)
timestamps = frameManager.get_tsframe_timestamp_list()
timestamps = (timestamps -
timestamps[0]) / 1000.0 # Relative timestamps in seconds
return timestamps, y
def load_data_tsframes3D(filename, matrixID):
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(filename);
# Load entire profile as 3D array
numTSFrames = frameManager.get_tsframe_count();
tsframe = frameManager.get_tsframe(0, matrixID);
width = tsframe.shape[1]
height = tsframe.shape[0]
tsframes3D = np.empty((height, width, numTSFrames)) # height, width, depth
for i in range(numTSFrames):
tsframes3D[:,:,i] = np.copy( frameManager.get_tsframe(i, matrixID) )
return tsframes3D
import os, sys
print("CWD: " + os.getcwd())
lib_path = os.path.abspath('../lib')
sys.path.append(lib_path)
import numpy as np
import matplotlib.pyplot as plt
import framemanager_python
# Force reloading of external library (convenient during active development)
#reload(framemanager_python)
profileName = os.path.abspath("reactive_grasping.dsa")
frameManager = framemanager_python.FrameManagerWrapper()
frameManager.load_profile(profileName)
frameManager.set_filter_median(1, False)
numTSFrames = frameManager.get_tsframe_count()
starttime = frameManager.get_tsframe_timestamp(0)
stoptime = frameManager.get_tsframe_timestamp(numTSFrames)
frameID = 42
######################
# Access frames (copy)
######################
tsframe0 = np.copy(frameManager.get_tsframe(frameID, 0))
tsframe1 = np.copy(frameManager.get_tsframe(frameID, 1))
tsframe2 = np.copy(frameManager.get_tsframe(frameID, 2))
tsframe3 = np.copy(frameManager.get_tsframe(frameID, 3))
