def create_homography_calibrator_launch(filename):
"""
Creates launch file for homography calibrators
"""
template_name = 'homography_calibrator_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
params_file = faa_utilities.file_tools.homography_calibrator_params_file
# Get list of pairs (namespace, rectified images)
image_rect_list = faa_introspection.find_camera_image_topics(transport='image_rect')
launch_list = []
for topic in image_rect_list:
print(topic)
topic_split = topic.split('/')
namespace = '/'.join(topic_split[:4])
launch_list.append((namespace,topic))
# Create xml launch file
jinja2_env = jinja2.Environment(loader=jinja2.FileSystemLoader(template_dir))
template = jinja2_env.get_template(template_name)
xml_str = template.render(
machine_file=machine_file,
params_file=params_file,
launch_list=launch_list
)
with open(filename,'w') as f:
f.write(xml_str)
def create_zoom_tool_launch(filename):
"""
Creates launch file for zoom tool nodes.
"""
template_name = 'zoom_tool_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
params_file = faa_utilities.file_tools.zoom_tool_params_file
camera_assignment = faa_utilities.file_tools.read_camera_assignment()
# Create launch list for zoom tools (namespace, topic, computer)
image_topics = faa_introspection.find_camera_image_topics(transport='image_raw')
launch_list = []
for topic in image_topics:
topic_split = topic.split('/')
namespace = '/'.join(topic_split[:4])
camera = topic_split[2]
computer = camera_assignment[camera]['computer']
launch_list.append((namespace,topic,computer))
# Create xml launch file
jinja2_env = jinja2.Environment(loader=jinja2.FileSystemLoader(template_dir))
template = jinja2_env.get_template(template_name)
xml_str = template.render(
machine_file=machine_file,
params_file=params_file,
launch_list=launch_list
)
with open(filename,'w') as f:
f.write(xml_str)
def create_zoom_tool_launch(filename):
"""
Creates launch file for zoom tool nodes.
"""
template_name = 'zoom_tool_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
params_file = faa_utilities.file_tools.zoom_tool_params_file
camera_assignment = faa_utilities.file_tools.read_camera_assignment()
# Create launch list for zoom tools (namespace, topic, computer)
image_topics = faa_introspection.find_camera_image_topics(
transport='image_raw')
launch_list = []
for topic in image_topics:
topic_split = topic.split('/')
namespace = '/'.join(topic_split[:4])
camera = topic_split[2]
computer = camera_assignment[camera]['computer']
launch_list.append((namespace, topic, computer))
# Create xml launch file
jinja2_env = jinja2.Environment(
loader=jinja2.FileSystemLoader(template_dir))
template = jinja2_env.get_template(template_name)
xml_str = template.render(machine_file=machine_file,
params_file=params_file,
launch_list=launch_list)
with open(filename, 'w') as f:
f.write(xml_str)
def create_homography_calibrator_launch(filename):
"""
Creates launch file for homography calibrators
"""
template_name = 'homography_calibrator_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
params_file = faa_utilities.file_tools.homography_calibrator_params_file
# Get list of pairs (namespace, rectified images)
image_rect_list = faa_introspection.find_camera_image_topics(
transport='image_rect')
launch_list = []
for topic in image_rect_list:
print(topic)
topic_split = topic.split('/')
namespace = '/'.join(topic_split[:4])
launch_list.append((namespace, topic))
# Create xml launch file
jinja2_env = jinja2.Environment(
loader=jinja2.FileSystemLoader(template_dir))
template = jinja2_env.get_template(template_name)
xml_str = template.render(machine_file=machine_file,
params_file=params_file,
launch_list=launch_list)
with open(filename, 'w') as f:
f.write(xml_str)
def get_camera_to_image_topic(camera_list, topic_name):
"""
Create dictionaries mapping cameras to images with the given topic name.
"""
image_topic_list = faa_introspection.find_camera_image_topics(transport=topic_name)
camera_to_image_topic = {}
for camera in camera_list:
for image_topic in image_topic_list:
if camera in image_topic.split('/'):
camera_to_image_topic[camera] = image_topic
return camera_to_image_topic
def get_camera_to_image_topic(camera_list, topic_name):
"""
Create dictionaries mapping cameras to images with the given topic name.
"""
image_topic_list = faa_introspection.find_camera_image_topics(
transport=topic_name)
camera_to_image_topic = {}
for camera in camera_list:
for image_topic in image_topic_list:
if camera in image_topic.split('/'):
camera_to_image_topic[camera] = image_topic
return camera_to_image_topic
def create_transform_2d_calibrator_launch(filename):
"""
Creates launch file for transform_2d_calibrator nodes.
"""
template_name = 'transform_2d_calibrator_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
params_file = faa_utilities.file_tools.transform_2d_calibrator_params_file
# Get region and camera pair information
region_dict = faa_utilities.file_tools.read_tracking_2d_regions()
camera_pairs_dict = faa_utilities.file_tools.read_tracking_2d_camera_pairs(
)
# Get dictionary of camera to rectified images
image_rect_list = faa_introspection.find_camera_image_topics(
transport='image_rect')
camera_to_image_rect = {}
for camera_list in region_dict.values():
for camera in camera_list:
for image_rect in image_rect_list:
if camera in image_rect.split('/'):
camera_to_image_rect[camera] = image_rect
# Create launch list (namespace, topic0, topic1)
launch_list = []
for pairs_list in camera_pairs_dict.values():
for camera0, camera1 in pairs_list:
try:
namespace = '/{0}_{1}'.format(camera0, camera1)
topic0 = camera_to_image_rect[camera0]
topic1 = camera_to_image_rect[camera1]
launch_list.append((namespace, topic0, topic1))
except KeyError:
pass
# Create xml launch file
jinja2_env = jinja2.Environment(
loader=jinja2.FileSystemLoader(template_dir))
template = jinja2_env.get_template(template_name)
xml_str = template.render(machine_file=machine_file,
params_file=params_file,
launch_list=launch_list)
with open(filename, 'w') as f:
f.write(xml_str)
def create_transform_2d_calibrator_launch(filename):
"""
Creates launch file for transform_2d_calibrator nodes.
"""
template_name = 'transform_2d_calibrator_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
params_file = faa_utilities.file_tools.transform_2d_calibrator_params_file
# Get region and camera pair information
region_dict = faa_utilities.file_tools.read_tracking_2d_regions()
camera_pairs_dict = faa_utilities.file_tools.read_tracking_2d_camera_pairs()
# Get dictionary of camera to rectified images
image_rect_list = faa_introspection.find_camera_image_topics(transport='image_rect')
camera_to_image_rect = {}
for camera_list in region_dict.values():
for camera in camera_list:
for image_rect in image_rect_list:
if camera in image_rect.split('/'):
camera_to_image_rect[camera] = image_rect
# Create launch list (namespace, topic0, topic1)
launch_list = []
for pairs_list in camera_pairs_dict.values():
for camera0, camera1 in pairs_list:
try:
namespace = '/{0}_{1}'.format(camera0, camera1)
topic0 = camera_to_image_rect[camera0]
topic1 = camera_to_image_rect[camera1]
launch_list.append((namespace, topic0, topic1))
except KeyError:
pass
# Create xml launch file
jinja2_env = jinja2.Environment(loader=jinja2.FileSystemLoader(template_dir))
template = jinja2_env.get_template(template_name)
xml_str = template.render(
machine_file=machine_file,
params_file=params_file,
launch_list=launch_list
)
with open(filename,'w') as f:
f.write(xml_str)
def create_three_point_tracker_launch(filename):
"""
Creates luanch file for three point tracker nodes based on the camera_lists
in the regions.yaml.
"""
template_name = 'three_point_tracker_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
regions_dict = faa_utilities.file_tools.read_tracking_2d_regions()
# ------------------------------------------------------------------------------------
# Old style - before frame drop correctors
#image_topic_list = faa_introspection.find_camera_image_topics(transport='image_rect')
# ------------------------------------------------------------------------------------
image_topic_list = faa_introspection.find_camera_image_topics(
transport='seq_and_image_corr')
# Create launch dictionary keyed by region.
launch_dict = {}
for region, camera_list in regions_dict.iteritems():
region_launch_list = []
for camera in camera_list:
for rect_topic in image_topic_list:
rect_topic_split = rect_topic.split('/')
if camera in rect_topic_split:
camera_topic = '/'.join(rect_topic_split[:-1])
machine = rect_topic_split[1]
region_launch_list.append(
(camera_topic, rect_topic, machine))
launch_dict[region] = region_launch_list
# Create xml launch file
jinja2_env = jinja2.Environment(
loader=jinja2.FileSystemLoader(template_dir))
template = jinja2_env.get_template(template_name)
xml_str = template.render(
machine_file=machine_file,
launch_dict=launch_dict,
)
with open(filename, 'w') as f:
f.write(xml_str)
def create_three_point_tracker_launch(filename):
"""
Creates luanch file for three point tracker nodes based on the camera_lists
in the regions.yaml.
"""
template_name = 'three_point_tracker_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
regions_dict = faa_utilities.file_tools.read_tracking_2d_regions()
# ------------------------------------------------------------------------------------
# Old style - before frame drop correctors
#image_topic_list = faa_introspection.find_camera_image_topics(transport='image_rect')
# ------------------------------------------------------------------------------------
image_topic_list = faa_introspection.find_camera_image_topics(transport='seq_and_image_corr')
# Create launch dictionary keyed by region.
launch_dict = {}
for region, camera_list in regions_dict.iteritems():
region_launch_list = []
for camera in camera_list:
for rect_topic in image_topic_list:
rect_topic_split = rect_topic.split('/')
if camera in rect_topic_split:
camera_topic = '/'.join(rect_topic_split[:-1])
machine = rect_topic_split[1]
region_launch_list.append((camera_topic, rect_topic, machine))
launch_dict[region] = region_launch_list
# Create xml launch file
jinja2_env = jinja2.Environment(loader=jinja2.FileSystemLoader(template_dir))
template = jinja2_env.get_template(template_name)
xml_str = template.render(
machine_file=machine_file,
launch_dict=launch_dict,
)
with open(filename,'w') as f:
f.write(xml_str)
