def __init__(self, channel='KINECT_FRAME', scale=1.,
extract_rgb=True, extract_depth=True, extract_X=True, bgr=True, every_k_frames=1):
Decoder.__init__(self, channel=channel, every_k_frames=every_k_frames)
self.skip = int(1.0 / scale);
assert (self.skip >= 1)
self.extract_rgb = extract_rgb
self.extract_depth = extract_depth
self.extract_X = extract_X
self.bgr = bgr
from kinect.frame_msg_t import frame_msg_t
from kinect.image_msg_t import image_msg_t
from kinect.depth_msg_t import depth_msg_t
self.frame_msg_t_ = frame_msg_t
self.image_msg_t_ = image_msg_t
self.depth_msg_t_ = depth_msg_t
# from openni.frame_msg_t import frame_msg_t as self.frame_msg_t_
# from openni.image_msg_t import image_msg_t as self.image_msg_t_
# from openni.depth_msg_t import depth_msg_t as self.depth_msg_t_
if self.extract_X:
K = construct_K(**KinectDecoder.kinect_params)
self.camera = DepthCamera(K=K, shape=(480,640), skip=self.skip)
def __init__(self,
channel='/camera/rgb/image_raw',
every_k_frames=1,
scale=1.,
encoding='bgr8',
compressed=False):
Decoder.__init__(self, channel=channel, every_k_frames=every_k_frames)
self.scale = scale
self.encoding = encoding
self.bridge = CvBridge()
self.compressed = compressed
def __init__(self,
channel='/scan',
every_k_frames=1,
range_min=0.0,
range_max=np.inf):
Decoder.__init__(self, channel=channel, every_k_frames=every_k_frames)
self.angle_min_ = 0.0
self.angle_max_ = 0.0
self.range_min_ = range_min
self.range_max_ = range_max
self.cos_sin_map_ = np.array([[]])
def PoseStampedMsgDecoder(channel, every_k_frames=1):
def odom_decode(data):
tvec, ori = data.pose.position, data.pose.orientation
return RigidTransform(xyzw=[ori.x, ori.y, ori.z, ori.w],
tvec=[tvec.x, tvec.y, tvec.z])
return Decoder(channel=channel,
every_k_frames=every_k_frames,
decode_cb=lambda data: odom_decode(data))
def __init__(self, channel='CAMERA', scale=1., every_k_frames=1):
Decoder.__init__(self, channel=channel, every_k_frames=every_k_frames)
self.scale = scale
def __init__(self, channel='POSE', every_k_frames=1):
Decoder.__init__(self, channel=channel, every_k_frames=every_k_frames)
def __init__(self, channel='MICROSTRAIN_INS'):
Decoder.__init__(self, channel=channel)
from microstrain import ins_t
self.ins_t_decode_ = lambda data : ins_t.decode(data)
def __init__(self, channel='PARAM_UPDATE', every_k_frames=1):
Decoder.__init__(self, channel=channel, every_k_frames=every_k_frames)
def __init__(self, channel='/camera/rgb/camera_info'):
Decoder.__init__(self, channel=channel)
def __init__(self, every_k_frames=1):
Decoder.__init__(self,
channel='/gazebo/model_states',
every_k_frames=every_k_frames)
self.__gazebo_index = None
def __init__(self, channel='/tf', every_k_frames=1):
Decoder.__init__(self, channel=channel, every_k_frames=every_k_frames)
self.pub_ = None
def __init__(self,
channel='/vehicle/sonar_cloud',
every_k_frames=1,
remove_nans=True):
Decoder.__init__(self, channel=channel, every_k_frames=every_k_frames)
self.remove_nans_ = remove_nans