def __init__(self):
self.path_planner = PathPlanner()
# will need a map:
map_maker = MapMaker()
map_maker.set_map()
map_maker.calibrate_map()
lowres_map = map_maker.get_lowres_map()
self.path_planner.set_map(lowres_map)
def setUp(self):
self.path_planner = PathPlanner()
# will need a map:
map_maker = MapMaker()
map_maker.set_map()
map_maker.calibrate_map()
lowres_map = map_maker.get_lowres_map()
self.path_planner.set_map(lowres_map)
self.path_planner.set_start_node()
self.path_planner.set_end_node()
class RoboSys:
def __init__(self):
#self.listener = KinectSubscriber()
self.map_maker = MapMaker()
#self.map_maker.set_map()
#self.map_data = self.map_maker.get_lowres_map()
self.path_planner = PathPlanner()
#self.marker_detector = MarkerDetector()
#self.rgb_data = []
def signal_handler(self, signal, frame):
global run
run = False
print("Shutting down")
cv2.destroyAllWindows()
def run(self):
#rospy.init_node('KinectSubscriber', anonymous=True)
#signal.signal(signal.SIGINT, self.signal_handler)
#while(run):
#self.map_data = self.listener.get_map_data()
#self.rgb_data = self.listener.get_rgb_data()
#self.marker_detector.detect_markers(self.rgb_data)
# cv2.imshow("RGB Image Window", detected)
# cv2.waitKey(3)
self.map_maker.set_map(
) # setting to default map in map_maker, can pass other map live
lowres_map = self.map_maker.get_lowres_map()
self.path_planner.set_map(lowres_map)
self.path_planner.set_start_node() # setting to default
self.path_planner.set_end_node() # setting to default
self.path_planner.run()
def __init__(self):
#self.listener = KinectSubscriber()
self.map_maker = MapMaker()
#self.map_maker.set_map()
#self.map_data = self.map_maker.get_lowres_map()
self.path_planner = PathPlanner()
def main_loop():
global pitch, roll, speed, gps_east, gps_north, man_east, man_north, bearing, azimuth, altitude
screen = pygame.display.set_mode(SCREEN_RESOLUTION, pygame.FULLSCREEN)
pygame.mouse.set_cursor((8, 8), (0, 0), (0, 0, 0, 0, 0, 0, 0, 0),
(0, 0, 0, 0, 0, 0, 0, 0))
# pygame.mouse.set_visible(False)
clock = pygame.time.Clock()
side = AngleMeter("images/side_profile.png", (0, 0, 300, 300))
back = AngleMeter("images/back_profile.png", (0, 300, 300, 300),
ratio=side.ratio)
speedometer = SpeedoMeter((0, 600, 300, 100), fmt="%4s")
altimeter = SpeedoMeter((0, 700, 300, 100), fmt="%4s")
# magnetometer = Compass("images/compass.png", (0, 200, 200, 200))
map = MapMaker((300, 0, 980, 800))
map_level = 4
mouse_sx = mouse_sy = 0
drag = mouse_dn = False
centered = True
while True:
clock.tick(20)
for event in pygame.event.get():
if event.type is pygame.QUIT:
return
if event.type is pygame.KEYDOWN and event.key == ord(
"+") and map_level < 10:
map_level += 1
if event.type is pygame.KEYDOWN and event.key == ord(
"-") and map_level > 2:
map_level -= 1
if event.type is pygame.MOUSEMOTION and mouse_dn:
if centered:
man_east = gps_east
man_north = gps_north
centered = False
drag = True
x, y = pygame.mouse.get_pos()
de, dn = map.delta_px_to_TM35FIN(x - mouse_sx, y - mouse_sy,
map_level)
man_east -= de
man_north += dn
mouse_sx = x
mouse_sy = y
if event.type is pygame.MOUSEBUTTONDOWN:
mouse_dn = True
mouse_sx, mouse_sy = pygame.mouse.get_pos()
if event.type is pygame.MOUSEBUTTONUP:
mouse_dn = False
if not drag:
x, y = pygame.mouse.get_pos()
if abs(x - mouse_sx) < 10 and abs(y - mouse_sy) < 10:
if x < 30 and y < 30:
return
elif y < SCREEN_RESOLUTION[1] / 4:
if map_level > 2:
map_level -= 1
elif y > 3 * SCREEN_RESOLUTION[1] / 4:
if map_level < 10:
map_level += 1
else:
centered = True
drag = False
key_pressed = pygame.key.get_pressed()
if key_pressed[pygame.K_ESCAPE]:
return
if key_pressed[pygame.K_c]:
centered = True
if key_pressed[pygame.K_DOWN]:
if pygame.key.get_mods() & pygame.KMOD_SHIFT:
pitch -= 1
else:
if centered:
man_east = gps_east
man_north = gps_north
centered = False
man_north -= map.get_step(map_level)
if key_pressed[pygame.K_UP]:
if pygame.key.get_mods() & pygame.KMOD_SHIFT:
pitch += 1
else:
if centered:
man_east = gps_east
man_north = gps_north
centered = False
man_north += map.get_step(map_level)
if key_pressed[pygame.K_LEFT]:
if pygame.key.get_mods() & pygame.KMOD_SHIFT:
roll -= 1
else:
if centered:
man_east = gps_east
man_north = gps_north
centered = False
man_east -= map.get_step(map_level)
if key_pressed[pygame.K_RIGHT]:
if pygame.key.get_mods() & pygame.KMOD_SHIFT:
roll += 1
else:
if centered:
man_east = gps_east
man_north = gps_north
centered = False
man_east += map.get_step(map_level)
if key_pressed[pygame.K_w]:
speed += 1
if key_pressed[pygame.K_s]:
speed -= 1
if key_pressed[pygame.K_a]:
azimuth += 1
if key_pressed[pygame.K_d]:
azimuth -= 1
if key_pressed[pygame.K_q]:
bearing += 1
if key_pressed[pygame.K_e]:
bearing -= 1
screen.fill((0, 0, 0))
side.draw(screen, pitch,
side.bg_color if -50 < pitch < 50 else side.warn_color)
back.draw(screen, -roll,
back.bg_color if -35 < roll < 35 else back.warn_color)
speedometer.draw(
screen, speed,
speedometer.bg_color if speed < 80 else speedometer.warn_color)
altimeter.draw(screen, altitude, altimeter.bg_color)
# magnetometer.draw(screen, (azimuth, (255, 0, 0)), (bearing, (0, 0, 255)))
if centered:
map.draw(screen, gps_east, gps_north, map_level)
else:
map.draw(screen, man_east, man_north, map_level)
map.draw_fov(screen, azimuth, (255, 0, 0))
map.draw_fov(screen, bearing, (0, 0, 255))
# gps_bearing.draw(screen, bearing)
pygame.display.flip()
def __init__(self):
self.listener = KinectSubscriber()
self.map_maker = MapMaker()
self.marker_detector = MarkerDetector()
self.map_data = []
self.rgb_data = []
def create_image(parent_dir, pid, savefile):
sourcedir = parent_dir + '/SegT2/Outputs/'
bg = sourcedir + 'T2_Bias_Corrected/' + (
os.listdir(sourcedir + 'T2_Bias_Corrected/')[0])
mskdir = sourcedir + 'T2_Tissue_Classes/'
image = MapMaker(bg)
image.add_overlay(mskdir + '3/csf.nii.gz',
0.05,
1,
colormaps.csf(),
alpha=0.7)
image.add_overlay(mskdir + '2/cortex.nii.gz',
0.05,
1,
colormaps.cortex(),
alpha=0.7)
image.add_overlay(mskdir + '0/brainstem.nii.gz',
0.05,
1,
colormaps.brainstem(),
alpha=0.7)
image.add_overlay(mskdir + '1/cerebellum.nii.gz',
0.05,
1,
colormaps.cerebellum(),
alpha=0.7)
image.add_overlay(mskdir + '4/dgm.nii.gz',
0.05,
1,
colormaps.dgm(),
alpha=0.7)
image.add_overlay(mskdir + '5/wm.nii.gz',
0.05,
1,
colormaps.wm(),
alpha=0.7)
image.save_strip_center(savefile + '.png', 20)
# FYI: exitCode=1 in javascript is probably a syntax error.
from map_maker import MapMaker
import sys, json, traceback
import time
import bridge
import util
# /var/folders/yl/31853pjx2lj80f8z5cqsbdww0000gn/T/upload_d041886e18e780a07ed751a46ee8183a
coverage_physical_path = sys.argv[1]
# 2016-10-08-01-01-01_pilot01_6166_occupancy.pgm
coverage_alias = sys.argv[2]
try:
maker = MapMaker(coverage_physical_path)
maker.grey_to_white()
maker.flip()
maker.scale(3)
util.save(maker.getImg(), coverage_physical_path, coverage_alias,
'coverage')
except:
e_type, value, tb = sys.exc_info()
stack = ''.join(traceback.format_tb(tb))
bridge.error('Unhandled exception" %s\nDescription: %s\nStack: %s' %
(e_type, value, stack))
def create_image(outputs_dir, struct_t2, mask, savefile):
discrete = colormaps.custom_discrete("albert", get_albert_colors())
image = MapMaker(struct_t2)
image.add_overlay(mask, 0.01, 'max', discrete, alpha=0.8)
image.save_strip_center(savefile, 19)
current_angle = 0
print(current_coord)
while len(self.path) > 1:
message, current_coord, current_angle = self.get_action(
current_coord, current_angle, test=True)
print(message + " STEPS LEFT:{}".format(len(self.path)))
return
if __name__ == '__main__':
path_planner = PathPlanner()
# will need a map:
map_maker = MapMaker()
map_maker.set_map()
map_maker.calibrate_map()
lowres_map = map_maker.get_lowres_map()
path_planner.set_map(lowres_map)
# path_planner.set_start_node()
# path_planner.set_end_node()
# path_planner.set_targets()
# path_planner.run()
# path_planner.debug()
# path_planner.test_action()
path_planner.test_rover_movement()
# path_planner.ser.close()