def __init__(self, command=None, args=[]):
self.manager = PostureManager('%s/db.p' %
roslib.packages.get_pkg_dir('posture_detection'))
self.subscriptions = []
self.command = command
self.args = args
rospy.init_node('posture', anonymous=True)
if command == 'add':
self.subscriptions.append(
rospy.Subscriber('user_ang', UserAng, self.snapshot_callback)
)
elif command == 'remove':
self.manager.remove_posture(self.args[0])
rospy.signal_shutdown('')
elif command == 'list':
for key in self.manager.database:
print key
rospy.signal_shutdown('')
else:
rospy.Subscriber('user_ang', UserAng, self.userAng_callback)
self.pub = rospy.Publisher('posture_detected', PostureDetected)
rospy.spin()
class PostureNode:
def __init__(self, command=None, args=[]):
self.manager = PostureManager('%s/db.p' %
roslib.packages.get_pkg_dir('posture_detection'))
self.subscriptions = []
self.command = command
self.args = args
rospy.init_node('posture', anonymous=True)
if command == 'add':
self.subscriptions.append(
rospy.Subscriber('user_ang', UserAng, self.snapshot_callback)
)
elif command == 'remove':
self.manager.remove_posture(self.args[0])
rospy.signal_shutdown('')
elif command == 'list':
for key in self.manager.database:
print key
rospy.signal_shutdown('')
else:
rospy.Subscriber('user_ang', UserAng, self.userAng_callback)
self.pub = rospy.Publisher('posture_detected', PostureDetected)
rospy.spin()
def _remove_subscriptions(self):
for sub in self.subscriptions:
sub.unregister()
def snapshot_callback(self, message):
rospy.loginfo('Snapshot')
self.manager.add_posture(self.args[0], message)
self.manager.remove_angles_from_posture(self.args[0], body)
if len(self.args) > 1:
to_remove = legs if self.args[1] == 'arms' else arms
self.manager.remove_angles_from_posture(self.args[0], to_remove)
self._remove_subscriptions()
rospy.signal_shutdown('')
def userAng_callback(self, message):
posture_detected = self.manager.posture_event(message)
if posture_detected:
rospy.loginfo("Posture detected: %s", posture_detected)
p = PostureDetected()
p.user_id = message.user_id
p.posture = posture_detected
self.pub.publish(p)
def __init__(self, database_path='testdp.p'):
rospy.init_node('posture_test', anonymous=True)
self.database_path = database_path
self.subscriptions = []
self.args = {}
self.package_path = roslib.packages.get_pkg_dir('posture_detection')
self.manager = PostureManager(
'%s/db.p' %
roslib.packages.get_pkg_dir('posture_detection')
)
self._load_database()
class PostureTest:
def __init__(self, database_path='testdp.p'):
rospy.init_node('posture_test', anonymous=True)
self.database_path = database_path
self.subscriptions = []
self.args = {}
self.package_path = roslib.packages.get_pkg_dir('posture_detection')
self.manager = PostureManager(
'%s/db.p' %
roslib.packages.get_pkg_dir('posture_detection')
)
self._load_database()
def _load_database(self):
if os.path.exists(self.database_path):
self.database = pickle.load(open(self.database_path, "rb"))
else:
self.database = []
rospy.loginfo("Loaded %d test postures" % len(self.database))
def _save_database(self):
"""Save current database to file (using Pickle)."""
pickle.dump(self.database, open(self.database_path, "wb"))
def _remove_subscriptions(self):
for sub in self.subscriptions:
sub.unregister()
def add(self, *args, **kwargs):
for i, item in enumerate(self.database):
if item['username'] == kwargs['username'] and \
item['posture'] == kwargs['posture'] and \
item['set'] == kwargs['set']:
print 'This has already been added to the database!'
return
self.args = kwargs
self.subscriptions.append(
rospy.Subscriber('user_ang', UserAng, self.add_cb)
)
rospy.spin()
def list(self):
for item in self.database:
item['detected'] = self.manager.detect_posture(item['message'])
del item['message']
print item
def remove(self, username, posture, set):
for i, item in enumerate(self.database):
if item['username'] == username and item['posture'] == posture and \
item['set'] == set:
rospy.loginfo("Deleted");
del self.database[i]
self._save_database()
rospy.signal_shutdown('')
def add_cb(self, data):
self.args.update({'message': data})
self.database.append(self.args)
self._save_database()
self._remove_subscriptions()
rospy.signal_shutdown('')
def edit(self):
edit = False
for i, item in enumerate(self.database):
if item['username'] == 'arnthor' and item['posture'] == 'hands_up' and \
item['set'] == '1':
#self.database[i]['set'] = '2'
edit = True
rospy.loginfo("Edited.");
break
if edit:
self._save_database()
def compare(self, group_by='posture', set=None, label=''):
results = {}
if label:
label = label + '_'
for item in self.database:
if set is not None and item['set'] == set or set is None:
detected = self.manager.detect_posture(item['message'])
detected = detected[0]
value = 0
if item['posture'] == detected:
value = 1
#print 'True positive'
elif detected is not None:
print 'False positive'
else:
pass
#print 'No detection'
if not results.has_key(item[group_by]):
results[item[group_by]] = []
results[item[group_by]].append(value)
success_rate = {}
for key in results:
success_rate[key] = 100.0*sum_list(results[key])/len(results[key])
print("%s: %f (%d/%d)" % (
key,
success_rate[key],
sum_list(results[key]),
len(results[key])
))
pylab.ion()
pylab.bar(range(0, len(success_rate)), success_rate.values())
pylab.xticks(range(0, len(success_rate)), success_rate.keys(), rotation=17)
pylab.ylabel("Success rate [%]")
pylab.show()
pylab.savefig('%s/img/%s%s_%s.pdf' % (self.package_path, label, group_by, set))
ble = raw_input('Press enter to continue')
