def incremental_callback(self, msg):
"""accumulate all data until consent is requested and accepted"""
if self._flag_robot and self._flag_rgb and self._flag_depth and self.requested_consent_flag is 0:
if msg.uuid in self.sk_mapping:
if self.sk_mapping[msg.uuid]["state"] is 'Tracking' and len(self.accumulate_data[msg.uuid]) <= self.max_num_frames:
self.accumulate_data[msg.uuid].append(msg)
robot_msg = robot_message(robot_pose = self.robot_pose, PTU_pan = self.ptu_pan, PTU_tilt = self.ptu_tilt)
self.accumulate_robot[msg.uuid].append(robot_msg)
self.accumulate_rgb_images[msg.uuid].append(self.rgb)
#self.accumulate_rgb_sk_images[msg.uuid].append(self.rgb_sk)
self.accumulate_depth_images[msg.uuid].append(self.xtion_img_d_rgb)
def incremental_callback(self, msg):
"""accumulate the multiple skeleton messages until user goes out of scene"""
if self._flag_robot and self._flag_rgb and self._flag_depth:
if msg.uuid in self.sk_mapping:
if self.sk_mapping[msg.uuid]["state"] is "Tracking":
if len(self.accumulate_data[msg.uuid]) < self.max_num_frames:
self.accumulate_data[msg.uuid].append(msg)
robot_msg = robot_message(
robot_pose=self.robot_pose, PTU_pan=self.ptu_pan, PTU_tilt=self.ptu_tilt
)
self.accumulate_robot[msg.uuid].append(robot_msg)
self._dump_images(msg)
def incremental_callback(self, msg):
"""accumulate the multiple skeleton messages until user goes out of scene"""
if self.action_called:
if self._flag_robot: # and self._flag_rgb and self._flag_depth:
if msg.uuid in self.sk_mapping:
if self.sk_mapping[msg.uuid]["state"] is 'Tracking' and len(self.accumulate_data[msg.uuid]) < self.max_num_frames \
and msg.joints[0].pose.position.z > self.dist_thresh:
self.sk_mapping[msg.uuid]["msgs_recieved"] += 1
if self.sk_mapping[msg.uuid][
"msgs_recieved"] % self.reduce_frame_rate_by == 0:
self.accumulate_data[msg.uuid].append(msg)
robot_msg = robot_message(
robot_pose=self.robot_pose,
PTU_pan=self.ptu_pan,
PTU_tilt=self.ptu_tilt)
self.accumulate_robot[msg.uuid].append(robot_msg)
def incremental_callback(self, msg):
"""accumulate all data until consent is requested and accepted"""
if self._flag_robot and self._flag_rgb and self._flag_depth and self.requested_consent_flag is 0:
if msg.uuid in self.sk_mapping:
if self.sk_mapping[msg.uuid]["state"] is 'Tracking' and len(self.accumulate_data[msg.uuid]) <= self.max_num_frames \
and msg.joints[0].pose.position.z > self.dist_thresh:
self.sk_mapping[msg.uuid]["msgs_recieved"] += 1
if self.sk_mapping[msg.uuid][
"msgs_recieved"] % self.reduce_frame_rate_by == 0:
self.accumulate_data[msg.uuid].append(msg)
robot_msg = robot_message(robot_pose=self.robot_pose,
PTU_pan=self.ptu_pan,
PTU_tilt=self.ptu_tilt)
self.accumulate_robot[msg.uuid].append(robot_msg)
self.accumulate_rgb_images[msg.uuid].append(self.rgb)
#self.accumulate_rgb_sk_images[msg.uuid].append(self.rgb_sk)
self.accumulate_depth_images[msg.uuid].append(
self.xtion_img_d_rgb)
def run_offline_instead_of_callback(self, vid=""):
if vid != "":
d_video = os.path.join(self.offline_directory, vid)
d_sk = os.path.join(d_video, 'skeleton')
d_robot = os.path.join(d_video, 'robot')
sk_files = [
f for f in sorted(os.listdir(d_sk))
if os.path.isfile(os.path.join(d_sk, f))
]
r_files = [
f for f in sorted(os.listdir(d_robot))
if os.path.isfile(os.path.join(d_robot, f))
]
self.accumulate_data[vid], self.accumulate_robot[vid] = [], []
for _file in sorted(sk_files):
frame = int(_file.replace(".txt", ""))
sk = get_sk_info(open(os.path.join(d_sk, _file),
'r')) # old ECAI data format.
r = get_rob_info(open(os.path.join(d_robot, _file), 'r'))
joints_msgs = [
joint_message(name=n,
pose=Pose(Point(j[0], j[1], j[2]),
Quaternion(0, 0, 0, 1)))
for n, j in sk.items()
]
robot_pose = Pose(
Point(r[0][0], r[0][1], r[0][2]),
Quaternion(r[1][0], r[1][1], r[1][2], r[1][3]))
self.accumulate_data[vid].append(
skeleton_message(userID=1, joints=joints_msgs, time=frame))
self.accumulate_robot[vid].append(
robot_message(
robot_pose=robot_pose,
PTU_pan=0,
PTU_tilt=10 * math.pi /
180.)) # pan tilt set to (0, 10) for ecai dataset
