def record_single_demo (demo_name, calib_file, num_cameras, use_voice, config_num=None):
"""
Records a single demo.
@demo_name: name of demo.
@calib_file: file to load calibration from. "", -- default -- means using the one in the master file
@num_demos: number of demos to be recorded. -1 -- default -- means until user stops.
@use_voice: use voice commands to start/stop demo if true. o/w use command line.
"""
global cmd_checker, camera_types, demo_type_dir, master_file, topic_writer
rospy.init_node("time_to_record")
sleeper = rospy.Rate(10)
load_parameters(num_cameras)
# Load calibration
cpipe.initialize_calibration(args.num_cameras)
calib_file_path = osp.join(calib_files_dir, calib_file);
if osp.isfile(calib_file_path):
cpipe.tfm_pub.load_calibration(calib_file_path)
else:
cpipe.run_calibration_sequence()
# Get voice command and subscriber launched and ready
greenprint(voice_cmd)
voice_handle = subprocess.Popen(voice_cmd, stdout=devnull, stderr=devnull, shell=True)
started_voice = True
cmd_checker = voice_alerts()
init_config = load_init_config(config_num)
if init_config is None:
greenprint("No init config. Provide random init config.")
subprocess.call("espeak -v en 'Provide random init config.'", stdout=devnull, stderr=devnull, shell=True)
else:
display_init_config(init_config, old=False)
for cam in camera_types:
if camera_types[cam] == 'rgbd':
save_image_services[cam](cam_publish_request)
greenprint("Please place rope in proper position.")
subprocess.call("espeak -v en 'Please place rope in position on screen.'", stdout=devnull, stderr=devnull, shell=True)
if use_voice:
time.sleep(1.2)
while True:
"""
Wait for user to place rope.
"""
if init_config is not None:
display_init_config(init_config, old=True)
status = cmd_checker.get_latest_msg()
if status in ["begin recording","done session"]:
break
sleeper.sleep()
else:
status = raw_input("Hit enter when ready to record demo (or q/Q to quit). ")
display_init_config(points=None, old=False, clear=True)
if status in ["done session", "q","Q"]:
greenprint("Done recording for this session (already?).")
return
# Initialize names and record
demo_dir = osp.join(demo_type_dir, demo_name)
if osp.exists(demo_dir):
yellowprint("%s exists! Removing directory for fresh recording."%demo_dir)
shutil.rmtree(demo_dir)
os.mkdir(demo_dir)
# Need cam types and calib file copied before for visualize demo
cam_type_file = osp.join(demo_dir, demo_names.camera_types_name)
with open(cam_type_file,"w") as fh: yaml.dump(camera_types, fh)
shutil.copyfile(calib_file_path, osp.join(demo_dir,demo_names.calib_name))
ready_service_for_demo (demo_dir)
greenprint("Recording %s."%demo_name)
# Temp file to show recording
with open(osp.join(demo_dir, demo_names.record_demo_temp),'w') as fh: fh.write('Recording...')
save_demo = record_demo(demo_name, use_voice)
if save_demo:
with open(master_file, 'a') as fh: fh.write('- demo_name: %s\n'%demo_name)
cam_model_file = osp.join(demo_dir, demo_names.camera_models_name)
with open(cam_model_file,"w") as fh: yaml.dump(camera_models, fh)
shutil.copyfile(calib_file_path, osp.join(demo_dir,demo_names.calib_name))
generate_annotation(demo_type, demo_name)
os.remove(osp.join(demo_dir, demo_names.record_demo_temp))
greenprint("Saved %s."%demo_name)
else:
time.sleep(3)
if osp.exists(demo_dir):
yellowprint("Removing demo %s"%demo_name)
shutil.rmtree(demo_dir)
yellowprint("Done")
if started_voice:
terminate_process_and_children(voice_handle)
voice_handle.wait()
yellowprint("stopped voice")
stop_camera_saving()
cpipe.done()
topic_writer.done_session()
def record_pipeline ( calib_file, num_cameras, num_demos, use_voice, use_init=True, redo):
"""
Either records n demos or until person says he is done.
@calib_file: file to load calibration from. "", -- default -- means using the one in the master file
@num_cameras: number of cameras being used.
@num_demos: number of demos to be recorded. -1 -- default -- means until user stops.
@use_voice: use voice commands to start/stop demo if true. o/w use command line.
"""
global cmd_checker, camera_types, demo_type_dir, master_file, demo_num, latest_demo_file, topic_writer, num_saved
time_sess_start = time.time()
rospy.init_node("time_to_record")
sleeper = rospy.Rate(10)
load_parameters(num_cameras)
# Load calibration
cpipe.initialize_calibration(args.num_cameras)
calib_file_path = osp.join(calib_files_dir, calib_file);
if osp.isfile(calib_file_path):
cpipe.tfm_pub.load_calibration(calib_file_path)
else:
cpipe.run_calibration_sequence()
# Get voice command and subscriber launched and ready
greenprint(voice_cmd)
voice_handle = subprocess.Popen(voice_cmd, stdout=devnull, stderr=devnull, shell=True)
started_voice = True
cmd_checker = voice_alerts()
# Start recording demos.
while True:
# Check if continuing or stopping
print '\n\n'
time.sleep(1.2)
if use_init:
if redo is None:
init_config = load_init_config(demo_num-1)
else:
ind = demo_num-100-1
init_config = load_init_config(redo[ind]-1)
if init_config is None:
greenprint("No init config. Provide random init config.")
subprocess.call("espeak -v en 'Provide random init config.'", stdout=devnull, stderr=devnull, shell=True)
else:
display_init_config(init_config, old=False)
for cam in camera_types:
if camera_types[cam] == 'rgbd':
save_image_services[cam](cam_publish_request)
greenprint("Please place rope in proper position.")
subprocess.call("espeak -v en 'Please place rope in position on screen.'", stdout=devnull, stderr=devnull, shell=True)
else:
greenprint("No init config. Provide random init config.")
subprocess.call("espeak -v en 'Provide random init config.'", stdout=devnull, stderr=devnull, shell=True)
if use_voice:
time.sleep(1.2)
while True:
"""
Wait for user to place rope.
"""
if use_init and init_config is not None:
display_init_config(init_config, old=True)
status = cmd_checker.get_latest_msg()
if status in ["begin recording","done session"]:
total_rec_start = time.time()
break
sleeper.sleep()
else:
status = raw_input("Hit enter when ready to record demo (or q/Q to quit). ")
for cam in camera_types:
if camera_types[cam] == 'rgbd':
save_image_services[cam](cam_publish_request)
display_init_config(points=None, old=False, clear=True)
if status in ["done session", "q","Q"]:
greenprint("Done recording for this session.")
break
# Initialize names and record
demo_name = demo_names.base_name%(demo_num)
demo_dir = osp.join(demo_type_dir, demo_name)
if osp.exists(demo_dir):
yellowprint("%s exists! Removing directory for fresh recording."%demo_dir)
shutil.rmtree(demo_dir)
os.mkdir(demo_dir)
# Need cam types and calib file copied before for visualize demo
cam_type_file = osp.join(demo_dir, demo_names.camera_types_name)
with open(cam_type_file,"w") as fh: yaml.dump(camera_types, fh)
shutil.copyfile(calib_file_path, osp.join(demo_dir,demo_names.calib_name))
ready_service_for_demo (demo_dir)
greenprint("Recording %s."%demo_name)
# Temp file to show recording
with open(osp.join(demo_dir, demo_names.record_demo_temp),'w') as fh: fh.write('Recording...')
save_demo = record_demo(demo_name, use_voice)
if save_demo:
time.sleep(1.2)
subprocess.call("espeak -v en 'Saving demo %i.'"%demo_num, stdout=devnull, stderr=devnull, shell=True)
with open(master_file, 'a') as fh: fh.write('- demo_name: %s\n'%demo_name)
cam_type_file = osp.join(demo_dir, demo_names.camera_types_name)
with open(cam_type_file,"w") as fh: yaml.dump(camera_types, fh)
cam_model_file = osp.join(demo_dir, demo_names.camera_models_name)
with open(cam_model_file,"w") as fh: yaml.dump(camera_models, fh)
with open(latest_demo_file,'w') as fh: fh.write(str(demo_num))
demo_num += 1
generate_annotation(demo_type, demo_name)
if num_demos > 0:
num_demos -= 1
os.remove(osp.join(demo_dir, demo_names.record_demo_temp))
num_saved += 1
greenprint("Saved %s."%demo_name)
total_rec_finish = time.time()
greenprint("Time taken to record + overhead: %02f"%(total_rec_finish - total_rec_start))
else:
if osp.exists(demo_dir):
shutil.rmtree(demo_dir)
yellowprint("Removed %s dir."%demo_name)
if num_demos == 0:
greenprint("Recorded all demos for session.")
break
if started_voice:
terminate_process_and_children(voice_handle)
voice_handle.wait()
yellowprint("Stopped voice.")
stop_camera_saving()
cpipe.done()
topic_writer.done_session()
time_sess_finish = time.time()
greenprint("Time taken to record in this session: %02f s"%(time_sess_finish-time_sess_start))
if num_saved > 0:
greenprint("Average time per saved demo: %02f s"%((time_sess_finish-time_sess_start)/num_saved))
