def create_image_proc_launch(filename):
"""
Creates launch file for image rectification and processing nodes
"""
template_name = 'image_proc_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
# Create dictionary which associates a camera name to its namespace for all
# cameras which have a calibration
namespace_dict = faa_introspection.get_camera_namespace_dict()
camera_list = faa_introspection.get_calibrated_cameras()
for camera in namespace_dict.keys():
if not camera in camera_list:
namespace_dict.pop(camera)
# Create a list given pairs (camera namespace, computer) on which to launch
# image_proc nodes.
camera_assignment = faa_introspection.get_camera_assignment()
launch_list = []
for camera, namespace in namespace_dict.iteritems():
computer = camera_assignment[camera]['computer']
launch_list.append((namespace,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, launch_list=launch_list)
with open(filename,'w') as f:
f.write(xml_str)
def create_image_proc_launch(filename):
"""
Creates launch file for image rectification and processing nodes
"""
template_name = 'image_proc_launch.xml'
machine_file = faa_utilities.file_tools.machine_launch_file
# Create dictionary which associates a camera name to its namespace for all
# cameras which have a calibration
namespace_dict = faa_introspection.get_camera_namespace_dict()
camera_list = faa_introspection.get_calibrated_cameras()
for camera in namespace_dict.keys():
if not camera in camera_list:
namespace_dict.pop(camera)
# Create a list given pairs (camera namespace, computer) on which to launch
# image_proc nodes.
camera_assignment = faa_introspection.get_camera_assignment()
launch_list = []
for camera, namespace in namespace_dict.iteritems():
computer = camera_assignment[camera]['computer']
launch_list.append((namespace, 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,
launch_list=launch_list)
with open(filename, 'w') as f:
f.write(xml_str)
'00305300013f2ef4': {'image_topic': '/faa_master/00305300013f2ef4/camera/image_raw', 'mjpeg_port': 8088, 'mjpeg_server': 'mjpeg_server_00305300013f2ef4'},
'00305300013f2ef5': {'image_topic': '/faa_master/00305300013f2ef5/camera/image_raw', 'mjpeg_port': 8082, 'mjpeg_server': 'mjpeg_server_00305300013f2ef5'},
'0030530001410997': {'image_topic': '/faa_slave1/0030530001410997/camera/image_raw', 'mjpeg_port': 8081, 'mjpeg_server': 'mjpeg_server_0030530001410997'},
'00305300013f2ef8': {'image_topic': '/faa_slave2/00305300013f2ef8/camera/image_raw', 'mjpeg_port': 8084, 'mjpeg_server': 'mjpeg_server_00305300013f2ef8'},
'00305300013f2ef9': {'image_topic': '/faa_slave2/00305300013f2ef9/camera/image_raw', 'mjpeg_port': 8080, 'mjpeg_server': 'mjpeg_server_00305300013f2ef9'},
'00305300013f2efb': {'image_topic': '/faa_master/00305300013f2efb/camera/image_raw', 'mjpeg_port': 8090, 'mjpeg_server': 'mjpeg_server_00305300013f2efb'},
'00305300013f2efa': {'image_topic': '/faa_master/00305300013f2efa/camera/image_raw', 'mjpeg_port': 8087, 'mjpeg_server': 'mjpeg_server_00305300013f2efa'},
'003053000140e715': {'image_topic': '/faa_slave1/003053000140e715/camera/image_raw', 'mjpeg_port': 8086, 'mjpeg_server': 'mjpeg_server_003053000140e715'},
'0030530001412079': {'image_topic': '/faa_slave2/0030530001412079/camera/image_raw', 'mjpeg_port': 8091, 'mjpeg_server': 'mjpeg_server_0030530001412079'}
}
create_mjpeg_server_launch(filename,mjpeg_info_dict)
if 0:
filename = 'camera.launch'
yaml_directory = './'
camera_assignment = faa_introspection.get_camera_assignment()
create_camera_yaml(directory=yaml_directory,camera_assignment=camera_assignment)
create_camera_launch(filename=filename,camera_assignment=camera_assignment)
if 0:
filename = 'camera_calibrator.launch'
image_topics = [
'/faa_slave2/camera_10/camera/image_raw',
'/faa_slave2/camera_12/camera/image_raw',
'/faa_slave1/camera_9/camera/image_raw',
'/faa_slave2/camera_7/camera/image_raw',
'/faa_slave2/camera_5/camera/image_raw',
'/faa_master/camera_8/camera/image_raw',
'/faa_master/camera_6/camera/image_raw',
'/faa_slave1/camera_1/camera/image_raw',
'/faa_slave1/camera_2/camera/image_raw',
'image_topic': '/faa_slave1/003053000140e715/camera/image_raw',
'mjpeg_port': 8086,
'mjpeg_server': 'mjpeg_server_003053000140e715'
},
'0030530001412079': {
'image_topic': '/faa_slave2/0030530001412079/camera/image_raw',
'mjpeg_port': 8091,
'mjpeg_server': 'mjpeg_server_0030530001412079'
}
}
create_mjpeg_server_launch(filename, mjpeg_info_dict)
if 0:
filename = 'camera.launch'
yaml_directory = './'
camera_assignment = faa_introspection.get_camera_assignment()
create_camera_yaml(directory=yaml_directory,
camera_assignment=camera_assignment)
create_camera_launch(filename=filename,
camera_assignment=camera_assignment)
if 0:
filename = 'camera_calibrator.launch'
image_topics = [
'/faa_slave2/camera_10/camera/image_raw',
'/faa_slave2/camera_12/camera/image_raw',
'/faa_slave1/camera_9/camera/image_raw',
'/faa_slave2/camera_7/camera/image_raw',
'/faa_slave2/camera_5/camera/image_raw',
'/faa_master/camera_8/camera/image_raw',
'/faa_master/camera_6/camera/image_raw',
