def testPlanePointcloud():
import roslib
roslib.load_manifest('laser_camera_segmentation')
import laser_camera_segmentation.processor as processor
import laser_camera_segmentation.configuration as configuration
cfg = configuration.configuration(
'/home/martin/robot1_data/usr/martin/laser_camera_segmentation/labeling'
)
#sc = scanner.scanner(cfg)
pc = processor.processor(cfg)
#pc.load_data('2009Oct30_162400')
pc.load_data('2009Nov04_141226')
pc.process_raw_data()
debug = False
model = PlaneLeastSquaresModel(debug)
data = numpy.asarray(pc.pts3d_bound).T
# run RANSAC algorithm
ransac_fit, ransac_data = ransac(
data,
model,
3,
1000,
0.02,
300, # misc. parameters
debug=debug,
return_all=True)
print ransac_fit
print ransac_data
print 'len inlier', len(ransac_data['inliers']), 'shape pts', np.shape(
pc.pts3d_bound)
pc.pts3d_bound = pc.pts3d_bound[:, ransac_data['inliers']]
pc.display_3d('height')
def get_test_data():
cfg = configuration.configuration("../data/ROS_test_client/", "dummyScanner")
pc = processor.processor(cfg)
pc.scan_dataset = scan_dataset()
pc.scan_dataset.image_artag_filename = ""
pc.scan_dataset.table_plane_translation = np.matrix([0, 0, 0]).T
# approximate height of hokuyo above the ground, assume it to be fixed for now.
pc.scan_dataset.ground_plane_translation = np.matrix([0, 0, 1.32]).T
pc.scan_dataset.ground_plane_rotation = ""
# pc.scan_dataset.is_test_set = True
pc.scan_dataset.is_labeled = True
pc.scan_dataset.id = "ROStest"
pc.load_raw_data(pc.scan_dataset.id)
image_size = cv.cvGetSize(pc.img)
# don't do any mapping to not change the pts3d!
# create point cloud from raw range points
(pc.pts3d, pc.scan_indices, pc.intensities) = pc.create_pointcloud(pc.laserscans, True, True)
# region of interest in image pixels
polygon = label_object()
polygon.set_label("surface")
width_min = image_size.width * 0.4
width_max = image_size.width * 0.95
height_min = image_size.height * 0.3
height_max = image_size.height * 0.95
polygon.add_point((width_min, height_min))
polygon.add_point((width_min, height_max))
polygon.add_point((width_max, height_max))
polygon.add_point((width_max, height_min))
return pc.pts3d, pc.intensities, None, pc.img, pc.image_angle, polygon
def get_test_data():
cfg = configuration.configuration('../data/ROS_test_client/',
'dummyScanner')
pc = processor.processor(cfg)
pc.scan_dataset = scan_dataset()
pc.scan_dataset.image_artag_filename = ''
pc.scan_dataset.table_plane_translation = np.matrix([0, 0, 0]).T
#approximate height of hokuyo above the ground, assume it to be fixed for now.
pc.scan_dataset.ground_plane_translation = np.matrix([0, 0, 1.32]).T
pc.scan_dataset.ground_plane_rotation = ''
#pc.scan_dataset.is_test_set = True
pc.scan_dataset.is_labeled = True
pc.scan_dataset.id = 'ROStest'
pc.load_raw_data(pc.scan_dataset.id)
image_size = cv.cvGetSize(pc.img)
#don't do any mapping to not change the pts3d!
#create point cloud from raw range points
(pc.pts3d, pc.scan_indices,
pc.intensities) = pc.create_pointcloud(pc.laserscans, True, True)
#region of interest in image pixels
polygon = label_object()
polygon.set_label('surface')
width_min = image_size.width * 0.4
width_max = image_size.width * 0.95
height_min = image_size.height * 0.3
height_max = image_size.height * 0.95
polygon.add_point((width_min, height_min))
polygon.add_point((width_min, height_max))
polygon.add_point((width_max, height_max))
polygon.add_point((width_max, height_min))
return pc.pts3d, pc.intensities, None, pc.img, pc.image_angle, polygon
def testPlanePointcloud():
import roslib; roslib.load_manifest('laser_camera_segmentation')
import laser_camera_segmentation.processor as processor
import laser_camera_segmentation.configuration as configuration
cfg = configuration.configuration('/home/martin/robot1_data/usr/martin/laser_camera_segmentation/labeling')
#sc = scanner.scanner(cfg)
pc = processor.processor(cfg)
#pc.load_data('2009Oct30_162400')
pc.load_data('2009Nov04_141226')
pc.process_raw_data()
debug = False
model = PlaneLeastSquaresModel(debug)
data = numpy.asarray(pc.pts3d_bound).T
# run RANSAC algorithm
ransac_fit, ransac_data = ransac(data,model,
3, 1000, 0.02, 300, # misc. parameters
debug=debug,return_all=True)
print ransac_fit
print ransac_data
print 'len inlier',len(ransac_data['inliers']),'shape pts',np.shape(pc.pts3d_bound)
pc.pts3d_bound = pc.pts3d_bound[:,ransac_data['inliers']]
pc.display_3d('height')
def test_segmentation():
rospy.wait_for_service('segment_pointcloud')
try:
pts3d, intensities, labels, image, image_angle, polygon = get_test_data(
)
ROS_pointcloud = convert_pointcloud_to_ROS(pts3d, intensities, labels)
ROS_image = convert_cvimage_to_ROS(image)
imageSize = cv.cvGetSize(image)
ROS_polygon = convert_polygon_to_ROS(polygon)
segment_pointcloud = rospy.ServiceProxy('segment_pointcloud',
Segmentation)
request = SegmentationRequest()
request.imageWidth = 41
request.pointcloud = ROS_pointcloud
request.image = ROS_image
request.imageWidth = imageSize.width
request.imageHeight = imageSize.height
request.imageAngle = image_angle
request.regionOfInterest2D = ROS_polygon
request.laserHeightAboveGround = 1.32
request.numberOfPointsToClassify = 1000 #-1 == all
response = segment_pointcloud(request)
pts3d_bound, intensities, labels = convert_ROS_pointcloud_to_pointcloud(
response.pointcloud)
cfg = configuration.configuration('../data/ROS_test_client/',
'dummyScanner')
pc = processor.processor(cfg)
pc.scan_dataset = scan_dataset()
pc.scan_dataset.image_artag_filename = ''
pc.scan_dataset.table_plane_translation = np.matrix([0, 0, 0]).T
pc.scan_dataset.ground_plane_translation = np.matrix(
[0, 0, request.laserHeightAboveGround]).T
pc.scan_dataset.ground_plane_rotation = ''
pc.scan_dataset.is_labeled = True
pc.scan_dataset.id = 'ROStest'
pc.image_angle = ''
pc.pts3d_bound = pts3d_bound
pc.map_polys = labels
pc.scan_dataset.ground_plane_normal = np.matrix([0., 0., 1.]).T
from enthought.mayavi import mlab
pc.display_3d('labels')
mlab.show()
return response
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def display3d(self):
import laser_camera_segmentation.processor as processor
import laser_camera_segmentation.configuration as configuration
print 'display in 3d...'
cfg = configuration.configuration('/home/martin/robot1_data/usr/martin/laser_camera_segmentation/labeling')
cfg.cam_vec = np.array(self.vals)
import scanr_transforms as trs
cfg.camTlaser = trs.camTlaser(cfg.cam_vec)
pc = processor.processor(cfg)
pc.load_data(self.dataset_id)
pc.process_raw_data()
pc.display_3d('labels', False)
def segment_pointcloud(request):
#convert data from ROS
pts3d, intensities, labels = convert_ROS_pointcloud_to_pointcloud(
request.pointcloud)
cvimage = convert_ROS_image_to_cvimage(request.image, request.imageWidth,
request.imageHeight)
polygon = convert_ROS_polygon_to_polygon(request.regionOfInterest2D)
polygon.set_label('surface')
print polygon, polygon.get_points()
#create processor and configuration
#cfg = configuration.configuration('/home/martin/robot1_data/usr/martin/ROS_server_test', 'codyRobot')
cfg = configuration.configuration('../data/ROS_server', 'dummyScanner')
pc = processor.processor(cfg)
pc.scan_dataset = scan_dataset()
pc.scan_dataset.image_artag_filename = ''
pc.scan_dataset.table_plane_translation = np.matrix([0, 0, 0]).T
pc.scan_dataset.ground_plane_translation = np.matrix(
[0, 0, request.laserHeightAboveGround]).T
pc.scan_dataset.ground_plane_rotation = ''
#pc.scan_dataset.is_test_set = True
pc.scan_dataset.is_labeled = True
pc.scan_dataset.id = 'ROStest'
pc.img = cvimage
pc.image_angle = request.imageAngle
pc.pts3d = pts3d
pc.intensities = intensities
pc.scan_indices = np.zeros(len(intensities))
pc.scan_dataset.polygons.append(polygon)
pc.do_all_point_cloud()
pc.do_polygon_mapping()
pc.scan_dataset.ground_plane_normal = np.matrix([0., 0., 1.]).T
if request.numberOfPointsToClassify == -1:
n = 999999999999
else:
n = request.numberOfPointsToClassify
feature_data = pc.generate_features(n, False, True)
labels, testresults = pc.load_classifier_and_test_on_dataset(
'all_post', feature_data)
response = SegmentationResponse()
response.pointcloud = convert_pointcloud_to_ROS(pc.pts3d_bound,
pc.intensities_bound,
labels)
return response
def test_segmentation():
rospy.wait_for_service("segment_pointcloud")
try:
pts3d, intensities, labels, image, image_angle, polygon = get_test_data()
ROS_pointcloud = convert_pointcloud_to_ROS(pts3d, intensities, labels)
ROS_image = convert_cvimage_to_ROS(image)
imageSize = cv.cvGetSize(image)
ROS_polygon = convert_polygon_to_ROS(polygon)
segment_pointcloud = rospy.ServiceProxy("segment_pointcloud", Segmentation)
request = SegmentationRequest()
request.imageWidth = 41
request.pointcloud = ROS_pointcloud
request.image = ROS_image
request.imageWidth = imageSize.width
request.imageHeight = imageSize.height
request.imageAngle = image_angle
request.regionOfInterest2D = ROS_polygon
request.laserHeightAboveGround = 1.32
request.numberOfPointsToClassify = 1000 # -1 == all
response = segment_pointcloud(request)
pts3d_bound, intensities, labels = convert_ROS_pointcloud_to_pointcloud(response.pointcloud)
cfg = configuration.configuration("../data/ROS_test_client/", "dummyScanner")
pc = processor.processor(cfg)
pc.scan_dataset = scan_dataset()
pc.scan_dataset.image_artag_filename = ""
pc.scan_dataset.table_plane_translation = np.matrix([0, 0, 0]).T
pc.scan_dataset.ground_plane_translation = np.matrix([0, 0, request.laserHeightAboveGround]).T
pc.scan_dataset.ground_plane_rotation = ""
pc.scan_dataset.is_labeled = True
pc.scan_dataset.id = "ROStest"
pc.image_angle = ""
pc.pts3d_bound = pts3d_bound
pc.map_polys = labels
pc.scan_dataset.ground_plane_normal = np.matrix([0.0, 0.0, 1.0]).T
from enthought.mayavi import mlab
pc.display_3d("labels")
mlab.show()
return response
except rospy.ServiceException, e:
print "Service call failed: %s" % e
def display3d(self):
import laser_camera_segmentation.processor as processor
import laser_camera_segmentation.configuration as configuration
print 'display in 3d...'
cfg = configuration.configuration(
'/home/martin/robot1_data/usr/martin/laser_camera_segmentation/labeling'
)
cfg.cam_vec = np.array(self.vals)
import scanr_transforms as trs
cfg.camTlaser = trs.camTlaser(cfg.cam_vec)
pc = processor.processor(cfg)
pc.load_data(self.dataset_id)
pc.process_raw_data()
pc.display_3d('labels', False)
def segment_pointcloud(request):
#convert data from ROS
pts3d, intensities, labels = convert_ROS_pointcloud_to_pointcloud(request.pointcloud)
cvimage = convert_ROS_image_to_cvimage(request.image, request.imageWidth, request.imageHeight)
polygon = convert_ROS_polygon_to_polygon(request.regionOfInterest2D)
polygon.set_label('surface')
print polygon, polygon.get_points()
#create processor and configuration
#cfg = configuration.configuration('/home/martin/robot1_data/usr/martin/ROS_server_test', 'codyRobot')
cfg = configuration.configuration('../data/ROS_server', 'dummyScanner')
pc = processor.processor(cfg)
pc.scan_dataset = scan_dataset()
pc.scan_dataset.image_artag_filename = ''
pc.scan_dataset.table_plane_translation = np.matrix([0,0,0]).T
pc.scan_dataset.ground_plane_translation = np.matrix([0,0,request.laserHeightAboveGround]).T
pc.scan_dataset.ground_plane_rotation = ''
#pc.scan_dataset.is_test_set = True
pc.scan_dataset.is_labeled = True
pc.scan_dataset.id = 'ROStest'
pc.img = cvimage
pc.image_angle = request.imageAngle
pc.pts3d = pts3d
pc.intensities = intensities
pc.scan_indices = np.zeros(len(intensities))
pc.scan_dataset.polygons.append(polygon)
pc.do_all_point_cloud()
pc.do_polygon_mapping()
pc.scan_dataset.ground_plane_normal = np.matrix([0.,0.,1.]).T
if request.numberOfPointsToClassify == -1:
n = 999999999999
else:
n = request.numberOfPointsToClassify
feature_data = pc.generate_features(n, False, True)
labels, testresults = pc.load_classifier_and_test_on_dataset('all_post', feature_data)
response = SegmentationResponse()
response.pointcloud = convert_pointcloud_to_ROS(pc.pts3d_bound, pc.intensities_bound, labels)
return response
print "Psyco loaded"
except ImportError:
pass
import time
def getTime():
return '['+time.strftime("%H:%M:%S", time.localtime())+']'
import subprocess
print getTime(), 'start'
import laser_camera_segmentation.processor as processor
import laser_camera_segmentation.configuration as configuration
cfg = configuration.configuration('/home/martin/robot1_data/usr/martin/laser_camera_segmentation/labeling')
pc = processor.processor(cfg)
#pc.calculate_and_save_ground_and_table_transformations_for_all_scans(use_RANSAC_table_plane = False)
pc.generate_save_features(True, True)
folds = 40
for current_fold in range(folds): #test_crossvalidation_fold.py
#output = subprocess.Popen(["python", 'test_crossvalidation_fold.py',str(current_fold)], stdout=subprocess.PIPE, env={"ROS_PACKAGE_PATH":"/home/martin/ros/pkgs:/home/martin/gt-ros-pkg/hrl:/home/martin/robot1/src:/home/martin/gt-ros-pkg/hrl:/home/martin/robot1/src:/home/martin/gt-ros-pkg/hrl:/home/martin/robot1/src", "ROS_ROOT":"/home/martin/ros/ros", "PYTHONPATH": "/home/martin/robot1/src/libraries:/home/martin/robot1/src/libraries/katana:/home/martin/robot1/src/libraries:/home/martin/robot1/src/libraries/katana:/home/martin/robot1/src/libraries:/home/martin/robot1/src/libraries/katana:/home/martin/ros/ros/core/roslib/src:/home/martin/robot1/src/libraries:/home/martin/robot1/src/libraries/katana:/usr/local/lib/python2.5/site-packages/m3rt/:/home/martin/gt-ros-pkg/hrl/segway_omni/src:/home/martin/gt-ros-pkg/hrl/hrl_opencv/src:/home/martin/gt-ros-pkg/hrl/force_torque/src:/home/martin/gt-ros-pkg/hrl/hrl_lib/src:/home/martin/gt-ros-pkg/hrl/zenither/src:/home/martin/gt-ros-pkg/hrl/robotis/src:/usr/local/lib/python2.5/site-packages/m3rt/:/home/martin/gt-ros-pkg/hrl/segway_omni/src:/home/martin/gt-ros-pkg/hrl/hrl_opencv/src:/home/martin/gt-ros-pkg/hrl/force_torque/src:/home/martin/gt-ros-pkg/hrl/hrl_lib/src:/home/martin/gt-ros-pkg/hrl/zenither/src:/home/martin/gt-ros-pkg/hrl/robotis/src:/usr/local/lib/python2.5/site-packages/m3rt/:/home/martin/gt-ros-pkg/hrl/segway_omni/src:/home/martin/gt-ros-pkg/hrl/hrl_opencv/src:/home/martin/gt-ros-pkg/hrl/force_torque/src:/home/martin/gt-ros-pkg/hrl/hrl_lib/src:/home/martin/gt-ros-pkg/hrl/zenither/src:/home/martin/gt-ros-pkg/hrl/robotis/src"}).communicate()[0]
output = subprocess.Popen(["python", 'test_crossvalidation_fold.py',str(current_fold)]).communicate()[0]
#print getTime(), output
#todo: parallel: don't use communicate() but just create 3 processes with Popen and then wait for them with wait()
def __init__(self, path, parent=None):
self.init_in_progress = True
self.path = path
# load configs for taking scans, etc:
self.config = configuration.configuration(path)
#create scanner and processor when needed:
self.scanner = False
self.processor = False
# load database:
self.scans_database = scans_database.scans_database()
self.scans_database.load(path,'database.pkl')
#get first dataset:
self.current_dataset = self.scans_database.get_dataset(0)
QtGui.QWidget.__init__(self, parent)
self.setWindowTitle('labeling tool')
left_layout = QtGui.QVBoxLayout()
self.draw_widget = draw_widget(self.current_dataset.polygons, self.scans_database.get_path() + '/' + self.current_dataset.image_filename, self)
title_layout = QtGui.QHBoxLayout()
take_scan_button = QtGui.QPushButton('Scan')
take_scan_button.setMaximumWidth(50)
title_layout.addWidget(take_scan_button)
self.connect(take_scan_button, QtCore.SIGNAL('clicked()'), self.slot_take_scan )
take_artag_image_button = QtGui.QPushButton('ARTag')
take_artag_image_button.setMaximumWidth(50)
title_layout.addWidget(take_artag_image_button)
self.connect(take_artag_image_button, QtCore.SIGNAL('clicked()'), self.slot_take_artag_image )
button = QtGui.QPushButton('Import Img')
title_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'), self.slot_import_image )
label = QtGui.QLabel("View: ")
title_layout.addWidget(label)
self.display_3d_button = QtGui.QPushButton('3D')
self.display_3d_button.setMaximumWidth(40)
title_layout.addWidget(self.display_3d_button)
self.connect(self.display_3d_button, QtCore.SIGNAL('clicked()'), self.slot_display_3d )
combobox = QtGui.QComboBox()
combobox.addItem("Height", QtCore.QVariant("height"))
combobox.addItem("Intensities", QtCore.QVariant("intensities"))
#combobox.addItem("objects", QtCore.QVariant("objects"))
combobox.addItem("Labels", QtCore.QVariant("labels"))
combobox.addItem("Classifier range", QtCore.QVariant("range"))
combobox.addItem("Classifier color", QtCore.QVariant("color"))
combobox.addItem("Classifier all", QtCore.QVariant("all"))
combobox.addItem("Classifier all+post", QtCore.QVariant("all_post"))
combobox.addItem("Baseline algo", QtCore.QVariant("baseline"))
combobox.addItem("h", QtCore.QVariant("h"))
combobox.addItem("s", QtCore.QVariant("s"))
combobox.addItem("v", QtCore.QVariant("v"))
self.connect(combobox, QtCore.SIGNAL('currentIndexChanged(int)'), self.slot_update_display_3d_type)
title_layout.addWidget(combobox)
self.display_3d_type_combobox = combobox;
self.display_3d_spheres_button = QtGui.QPushButton('3D_Spheres')
title_layout.addWidget(self.display_3d_spheres_button)
self.connect(self.display_3d_spheres_button, QtCore.SIGNAL('clicked()'), self.slot_display_3d_spheres )
self.display_intensity_button = QtGui.QPushButton('Intensity')
self.display_intensity_button.setMaximumWidth(50)
title_layout.addWidget(self.display_intensity_button)
self.connect(self.display_intensity_button, QtCore.SIGNAL('clicked()'), self.slot_display_intensity )
self.display_features_button = QtGui.QPushButton('Features')
title_layout.addWidget(self.display_features_button)
self.display_features_button.setMaximumWidth(50)
self.connect(self.display_features_button, QtCore.SIGNAL('clicked()'), self.slot_display_features )
self.display_labels_button = QtGui.QPushButton('Labels')
title_layout.addWidget(self.display_labels_button)
self.display_labels_button.setMaximumWidth(50)
self.connect(self.display_labels_button, QtCore.SIGNAL('clicked()'), self.slot_display_labels )
self.display_stats_button = QtGui.QPushButton('Stats')
title_layout.addWidget(self.display_stats_button)
self.display_stats_button.setMaximumWidth(50)
self.connect(self.display_stats_button, QtCore.SIGNAL('clicked()'), self.slot_display_stats )
self.display_global_stats_button = QtGui.QPushButton('Global Stats')
title_layout.addWidget(self.display_global_stats_button)
self.display_global_stats_button.setMaximumWidth(50)
self.connect(self.display_global_stats_button, QtCore.SIGNAL('clicked()'), self.slot_display_global_stats )
self.line_edits = []
self.add_line_edit('Title:',title_layout,'title')
first_dataset_button = QtGui.QPushButton('<<')
first_dataset_button.setMaximumWidth(30)
title_layout.addWidget(first_dataset_button)
self.connect(first_dataset_button, QtCore.SIGNAL('clicked()'), self.slot_first_dataset )
prev_dataset_button = QtGui.QPushButton('<')
prev_dataset_button.setMaximumWidth(30)
title_layout.addWidget(prev_dataset_button)
self.connect(prev_dataset_button, QtCore.SIGNAL('clicked()'), self.slot_prev_dataset )
next_dataset_button = QtGui.QPushButton('>')
next_dataset_button.setMaximumWidth(30)
title_layout.addWidget(next_dataset_button)
self.connect(next_dataset_button, QtCore.SIGNAL('clicked()'), self.slot_next_dataset )
last_dataset_button = QtGui.QPushButton('>>')
last_dataset_button.setMaximumWidth(30)
title_layout.addWidget(last_dataset_button)
self.connect(last_dataset_button, QtCore.SIGNAL('clicked()'), self.slot_last_dataset )
save_button = QtGui.QPushButton('Save')
title_layout.addWidget(save_button)
save_button.setMaximumWidth(50)
self.connect(save_button, QtCore.SIGNAL('clicked()'), self.slot_save )
delete_button = QtGui.QPushButton('Delete')
title_layout.addWidget(delete_button)
delete_button.setMaximumWidth(50)
self.connect(delete_button, QtCore.SIGNAL('clicked()'), self.slot_delete )
self.connect(self.draw_widget, QtCore.SIGNAL('sigPolyChanged'), self.slot_update_polygons)
self.connect(self.draw_widget, QtCore.SIGNAL('sigPolyLabelChanged'), self.slot_update_polygon_label)
self.connect(self.draw_widget, QtCore.SIGNAL('sigDefineGroundPlane'), self.slot_define_ground_plane)
left_layout.addLayout(title_layout)
#second row:
row2_layout = QtGui.QHBoxLayout()
left_layout.addLayout(row2_layout)
label = QtGui.QLabel("Id:")
row2_layout.addWidget(label)
self.id_label = QtGui.QLabel("")
row2_layout.addWidget(self.id_label)
self.add_line_edit('Surface: ID:',row2_layout,'surface_id')
self.add_line_edit('Height',row2_layout,'surface_height')
label = QtGui.QLabel("Type: ")
row2_layout.addWidget(label)
combobox = QtGui.QComboBox()
combobox.addItem("Table Office", QtCore.QVariant("table_office"))
combobox.addItem("Table Dorm", QtCore.QVariant("table_dorm"))
combobox.addItem("Table House", QtCore.QVariant("table_house"))
combobox.addItem("Shelf Office", QtCore.QVariant("shelf_office"))
combobox.addItem("Shelf Dorm", QtCore.QVariant("shelf_dorm"))
combobox.addItem("Shelf House", QtCore.QVariant("shelf_house"))
self.connect(combobox, QtCore.SIGNAL('currentIndexChanged(int)'), self.slot_update_surface_type)
row2_layout.addWidget(combobox)
self.surface_type_combobox = combobox;
self.add_line_edit('Camera: Height:',row2_layout,'camera_height')
self.add_line_edit('Camera: Angle:',row2_layout,'camera_angle')
#####################################
#thrid row:
row3_layout = QtGui.QHBoxLayout()
left_layout.addLayout(row3_layout)
#checkboxes:
button = QtGui.QPushButton("&gen'n'save features")
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'), self.slot_generate_save_features )
checkbox = QtGui.QCheckBox('&Training Set')
row3_layout.addWidget(checkbox)
self.connect(checkbox, QtCore.SIGNAL('stateChanged(int)'), self.slot_update_training_set)
self.checkbox_training_set = checkbox
checkbox = QtGui.QCheckBox('Te&st Set')
row3_layout.addWidget(checkbox)
self.connect(checkbox, QtCore.SIGNAL('stateChanged(int)'), self.slot_update_test_set)
self.checkbox_test_set = checkbox
checkbox = QtGui.QCheckBox('Labels, Groundp. checked')
row3_layout.addWidget(checkbox)
self.connect(checkbox, QtCore.SIGNAL('stateChanged(int)'), self.slot_update_is_labeled)
self.checkbox_is_labeled = checkbox
button = QtGui.QPushButton("Train'n'save Classifiers (training set)")
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'), self.slot_train_and_save_Classifiers )
button = QtGui.QPushButton('Test Classifiers (on current)')
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'), self.slot_test_Classifiers )
button = QtGui.QPushButton('Test Classifiers (on testset)')
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'), self.slot_test_Classifiers_on_testset )
button = QtGui.QPushButton('Load Classifiers')
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'), self.slot_load_Classifiers )
# button = QtGui.QPushButton('Save Classifier')
# row3_layout.addWidget(button)
# self.connect(button, QtCore.SIGNAL('clicked()'), self.slot_save_Classifier )
#####################################
left_layout.addWidget(self.draw_widget)
self.right_layout = QtGui.QVBoxLayout()
self.right_layout.setAlignment(QtCore.Qt.AlignTop)
self.outer_layout = QtGui.QHBoxLayout()
self.outer_layout.addLayout(left_layout)
self.outer_layout.addLayout(self.right_layout)
self.polygon_comboboxes = []
self.add_polygon_combobox()
self.slot_update_polygons(self.current_dataset.polygons,0)
self.setLayout(self.outer_layout)
self.resize(900, 700)
self.load_values_from_dataset()
self.init_in_progress = False
#at startup, display newest:
self.slot_last_dataset()
#rot = np.matrix([[1,0,0],[0,1,0],[0,0,1]])
#[above] data location must hold xml training data to load. or get error!
#[above] dataset id should be a unique name for files in subfolder data/
#----------------------
'''Number of points to '''
NUMBER_OF_POINTS = 7000 #some large number #previously only 1000
SCALE = 1
IS_LABELED = True #What happens if false? Assume = No ROI cropping. Might get skipped altogether. TODO:check.
displayOn = True
print getTime(), 'IMPORTS DONE'
###CHANGE THIS TO THE DIRECTORY WITH RESULTS FROM CODY:
### change 'codyRobot' to 'dummyScanner' or code tries to find camera drivers, etc.
cfg = configuration.configuration(DATA_LOCATION, ROBOT) #'dummyScanner'
pc = processor.processor(cfg)
pc.features_k_nearest_neighbors = None
'''
@param z_above_floor Approximate height of hokuyo above the ground. Asssumed
to be fixed for now. On Cody robot the camera and hokuyo were at same z-height.
'''
def create_default_scan_dataset(unique_id=DATASET_ID, z_above_floor=1.32):
dataset = scan_dataset()
dataset.table_plane_translation = np.matrix([0, 0, 0]).T
# approximate height of hokuyo above the ground, assume it to be fixed for now.
dataset.ground_plane_translation = np.matrix([0, 0, z_above_floor]).T
dataset.ground_plane_rotation = '' #expects a 3x3 numpy matrix
def __init__(self, path, parent=None):
self.init_in_progress = True
self.path = path
# load configs for taking scans, etc:
self.config = configuration.configuration(path)
#create scanner and processor when needed:
self.scanner = False
self.processor = False
# load database:
self.scans_database = scans_database.scans_database()
self.scans_database.load(path, 'database.pkl')
#get first dataset:
self.current_dataset = self.scans_database.get_dataset(0)
QtGui.QWidget.__init__(self, parent)
self.setWindowTitle('labeling tool')
left_layout = QtGui.QVBoxLayout()
self.draw_widget = draw_widget(
self.current_dataset.polygons,
self.scans_database.get_path() + '/' +
self.current_dataset.image_filename, self)
title_layout = QtGui.QHBoxLayout()
take_scan_button = QtGui.QPushButton('Scan')
take_scan_button.setMaximumWidth(50)
title_layout.addWidget(take_scan_button)
self.connect(take_scan_button, QtCore.SIGNAL('clicked()'),
self.slot_take_scan)
take_artag_image_button = QtGui.QPushButton('ARTag')
take_artag_image_button.setMaximumWidth(50)
title_layout.addWidget(take_artag_image_button)
self.connect(take_artag_image_button, QtCore.SIGNAL('clicked()'),
self.slot_take_artag_image)
button = QtGui.QPushButton('Import Img')
title_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'),
self.slot_import_image)
label = QtGui.QLabel("View: ")
title_layout.addWidget(label)
self.display_3d_button = QtGui.QPushButton('3D')
self.display_3d_button.setMaximumWidth(40)
title_layout.addWidget(self.display_3d_button)
self.connect(self.display_3d_button, QtCore.SIGNAL('clicked()'),
self.slot_display_3d)
combobox = QtGui.QComboBox()
combobox.addItem("Height", QtCore.QVariant("height"))
combobox.addItem("Intensities", QtCore.QVariant("intensities"))
#combobox.addItem("objects", QtCore.QVariant("objects"))
combobox.addItem("Labels", QtCore.QVariant("labels"))
combobox.addItem("Classifier range", QtCore.QVariant("range"))
combobox.addItem("Classifier color", QtCore.QVariant("color"))
combobox.addItem("Classifier all", QtCore.QVariant("all"))
combobox.addItem("Classifier all+post", QtCore.QVariant("all_post"))
combobox.addItem("Baseline algo", QtCore.QVariant("baseline"))
combobox.addItem("h", QtCore.QVariant("h"))
combobox.addItem("s", QtCore.QVariant("s"))
combobox.addItem("v", QtCore.QVariant("v"))
self.connect(combobox, QtCore.SIGNAL('currentIndexChanged(int)'),
self.slot_update_display_3d_type)
title_layout.addWidget(combobox)
self.display_3d_type_combobox = combobox
self.display_3d_spheres_button = QtGui.QPushButton('3D_Spheres')
title_layout.addWidget(self.display_3d_spheres_button)
self.connect(self.display_3d_spheres_button,
QtCore.SIGNAL('clicked()'), self.slot_display_3d_spheres)
self.display_intensity_button = QtGui.QPushButton('Intensity')
self.display_intensity_button.setMaximumWidth(50)
title_layout.addWidget(self.display_intensity_button)
self.connect(self.display_intensity_button, QtCore.SIGNAL('clicked()'),
self.slot_display_intensity)
self.display_features_button = QtGui.QPushButton('Features')
title_layout.addWidget(self.display_features_button)
self.display_features_button.setMaximumWidth(50)
self.connect(self.display_features_button, QtCore.SIGNAL('clicked()'),
self.slot_display_features)
self.display_labels_button = QtGui.QPushButton('Labels')
title_layout.addWidget(self.display_labels_button)
self.display_labels_button.setMaximumWidth(50)
self.connect(self.display_labels_button, QtCore.SIGNAL('clicked()'),
self.slot_display_labels)
self.display_stats_button = QtGui.QPushButton('Stats')
title_layout.addWidget(self.display_stats_button)
self.display_stats_button.setMaximumWidth(50)
self.connect(self.display_stats_button, QtCore.SIGNAL('clicked()'),
self.slot_display_stats)
self.display_global_stats_button = QtGui.QPushButton('Global Stats')
title_layout.addWidget(self.display_global_stats_button)
self.display_global_stats_button.setMaximumWidth(50)
self.connect(self.display_global_stats_button,
QtCore.SIGNAL('clicked()'),
self.slot_display_global_stats)
self.line_edits = []
self.add_line_edit('Title:', title_layout, 'title')
first_dataset_button = QtGui.QPushButton('<<')
first_dataset_button.setMaximumWidth(30)
title_layout.addWidget(first_dataset_button)
self.connect(first_dataset_button, QtCore.SIGNAL('clicked()'),
self.slot_first_dataset)
prev_dataset_button = QtGui.QPushButton('<')
prev_dataset_button.setMaximumWidth(30)
title_layout.addWidget(prev_dataset_button)
self.connect(prev_dataset_button, QtCore.SIGNAL('clicked()'),
self.slot_prev_dataset)
next_dataset_button = QtGui.QPushButton('>')
next_dataset_button.setMaximumWidth(30)
title_layout.addWidget(next_dataset_button)
self.connect(next_dataset_button, QtCore.SIGNAL('clicked()'),
self.slot_next_dataset)
last_dataset_button = QtGui.QPushButton('>>')
last_dataset_button.setMaximumWidth(30)
title_layout.addWidget(last_dataset_button)
self.connect(last_dataset_button, QtCore.SIGNAL('clicked()'),
self.slot_last_dataset)
save_button = QtGui.QPushButton('Save')
title_layout.addWidget(save_button)
save_button.setMaximumWidth(50)
self.connect(save_button, QtCore.SIGNAL('clicked()'), self.slot_save)
delete_button = QtGui.QPushButton('Delete')
title_layout.addWidget(delete_button)
delete_button.setMaximumWidth(50)
self.connect(delete_button, QtCore.SIGNAL('clicked()'),
self.slot_delete)
self.connect(self.draw_widget, QtCore.SIGNAL('sigPolyChanged'),
self.slot_update_polygons)
self.connect(self.draw_widget, QtCore.SIGNAL('sigPolyLabelChanged'),
self.slot_update_polygon_label)
self.connect(self.draw_widget, QtCore.SIGNAL('sigDefineGroundPlane'),
self.slot_define_ground_plane)
left_layout.addLayout(title_layout)
#second row:
row2_layout = QtGui.QHBoxLayout()
left_layout.addLayout(row2_layout)
label = QtGui.QLabel("Id:")
row2_layout.addWidget(label)
self.id_label = QtGui.QLabel("")
row2_layout.addWidget(self.id_label)
self.add_line_edit('Surface: ID:', row2_layout, 'surface_id')
self.add_line_edit('Height', row2_layout, 'surface_height')
label = QtGui.QLabel("Type: ")
row2_layout.addWidget(label)
combobox = QtGui.QComboBox()
combobox.addItem("Table Office", QtCore.QVariant("table_office"))
combobox.addItem("Table Dorm", QtCore.QVariant("table_dorm"))
combobox.addItem("Table House", QtCore.QVariant("table_house"))
combobox.addItem("Shelf Office", QtCore.QVariant("shelf_office"))
combobox.addItem("Shelf Dorm", QtCore.QVariant("shelf_dorm"))
combobox.addItem("Shelf House", QtCore.QVariant("shelf_house"))
self.connect(combobox, QtCore.SIGNAL('currentIndexChanged(int)'),
self.slot_update_surface_type)
row2_layout.addWidget(combobox)
self.surface_type_combobox = combobox
self.add_line_edit('Camera: Height:', row2_layout, 'camera_height')
self.add_line_edit('Camera: Angle:', row2_layout, 'camera_angle')
#####################################
#thrid row:
row3_layout = QtGui.QHBoxLayout()
left_layout.addLayout(row3_layout)
#checkboxes:
button = QtGui.QPushButton("&gen'n'save features")
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'),
self.slot_generate_save_features)
checkbox = QtGui.QCheckBox('&Training Set')
row3_layout.addWidget(checkbox)
self.connect(checkbox, QtCore.SIGNAL('stateChanged(int)'),
self.slot_update_training_set)
self.checkbox_training_set = checkbox
checkbox = QtGui.QCheckBox('Te&st Set')
row3_layout.addWidget(checkbox)
self.connect(checkbox, QtCore.SIGNAL('stateChanged(int)'),
self.slot_update_test_set)
self.checkbox_test_set = checkbox
checkbox = QtGui.QCheckBox('Labels, Groundp. checked')
row3_layout.addWidget(checkbox)
self.connect(checkbox, QtCore.SIGNAL('stateChanged(int)'),
self.slot_update_is_labeled)
self.checkbox_is_labeled = checkbox
button = QtGui.QPushButton("Train'n'save Classifiers (training set)")
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'),
self.slot_train_and_save_Classifiers)
button = QtGui.QPushButton('Test Classifiers (on current)')
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'),
self.slot_test_Classifiers)
button = QtGui.QPushButton('Test Classifiers (on testset)')
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'),
self.slot_test_Classifiers_on_testset)
button = QtGui.QPushButton('Load Classifiers')
row3_layout.addWidget(button)
self.connect(button, QtCore.SIGNAL('clicked()'),
self.slot_load_Classifiers)
# button = QtGui.QPushButton('Save Classifier')
# row3_layout.addWidget(button)
# self.connect(button, QtCore.SIGNAL('clicked()'), self.slot_save_Classifier )
#####################################
left_layout.addWidget(self.draw_widget)
self.right_layout = QtGui.QVBoxLayout()
self.right_layout.setAlignment(QtCore.Qt.AlignTop)
self.outer_layout = QtGui.QHBoxLayout()
self.outer_layout.addLayout(left_layout)
self.outer_layout.addLayout(self.right_layout)
self.polygon_comboboxes = []
self.add_polygon_combobox()
self.slot_update_polygons(self.current_dataset.polygons, 0)
self.setLayout(self.outer_layout)
self.resize(900, 700)
self.load_values_from_dataset()
self.init_in_progress = False
#at startup, display newest:
self.slot_last_dataset()
#[above] data location must hold xml training data to load. or get error!
#[above] dataset id should be a unique name for files in subfolder data/
#----------------------
'''Number of points to '''
NUMBER_OF_POINTS = 7000#some large number #previously only 1000
SCALE = 1
IS_LABELED = True #What happens if false? Assume = No ROI cropping. Might get skipped altogether. TODO:check.
displayOn = True
print getTime(), 'IMPORTS DONE'
###CHANGE THIS TO THE DIRECTORY WITH RESULTS FROM CODY:
### change 'codyRobot' to 'dummyScanner' or code tries to find camera drivers, etc.
cfg = configuration.configuration(DATA_LOCATION, ROBOT) #'dummyScanner'
pc = processor.processor(cfg)
pc.features_k_nearest_neighbors = None
'''
@param z_above_floor Approximate height of hokuyo above the ground. Asssumed
to be fixed for now. On Cody robot the camera and hokuyo were at same z-height.
'''
def create_default_scan_dataset(unique_id = DATASET_ID, z_above_floor=1.32):
dataset = scan_dataset()
dataset.table_plane_translation = np.matrix([0,0,0]).T
# approximate height of hokuyo above the ground, assume it to be fixed for now.
dataset.ground_plane_translation = np.matrix([0,0,z_above_floor]).T
dataset.ground_plane_rotation = '' #expects a 3x3 numpy matrix
#pc.scan_dataset.is_test_set = True