def _leg_annotation(self,
log,
activity_rois=list(),
nonactivity_rois=list(),
wp=""):
leg_rois = list()
timestamp = log[0].header.stamp
for traj in self._trajvis.trajs.traj.itervalues():
trajectory = traj.get_trajectory_message()
points = [[pose.pose.position.x, pose.pose.position.y]
for pose in trajectory.trajectory]
points = create_line_string(points)
for roi, region in self.regions.iteritems():
if is_intersected(region, points):
leg_rois.append(roi)
self.roi_leg[roi].append((timestamp.secs / 60) * 60)
for roi in activity_rois:
if roi in leg_rois:
self.leg[roi][wp]["TP"] += 1
else:
self.leg[roi][wp]["FN"] += 1
for roi in nonactivity_rois:
if roi in leg_rois:
self.leg[roi][wp]["FP"] += 1
else:
self.leg[roi][wp]["TN"] += 1
def _get_waypoints(self, soma_config):
region_wps = dict()
# get regions information
regions, _ = get_soma_info(soma_config)
# get waypoint information
topo_sub = rospy.Subscriber("/topological_map", TopologicalMap,
self._topo_map_cb, None, 10)
rospy.loginfo("Getting information from /topological_map...")
while self.topo_map is None:
rospy.sleep(0.1)
topo_sub.unregister()
for wp in self.topo_map.nodes:
wp_sight, _ = robot_view_cone(wp.pose)
intersected_rois = list()
intersected_regions = list()
for roi, region in regions.iteritems():
if is_intersected(wp_sight, region):
intersected_regions.append(region)
intersected_rois.append(roi)
for ind, region in enumerate(intersected_regions):
area = wp_sight.intersection(region).area
roi = intersected_rois[ind]
if roi in region_wps:
_, area1 = region_wps[roi]
if area > area1:
region_wps.update({roi: (wp.name, area)})
else:
region_wps.update({roi: (wp.name, area)})
return {
roi: tupleoftwo[0]
for roi, tupleoftwo in region_wps.iteritems()
}
def _pt_cb(self, msg):
if self._is_counting_visit:
for trajectory in msg.trajectories:
points = [[pose.pose.position.x, pose.pose.position.y]
for pose in trajectory.trajectory[-10:]]
points = create_line_string(points)
for roi, area in self.regions.iteritems():
if is_intersected(area, points):
if trajectory.uuid not in self._region_visits:
rospy.loginfo("%s seems to visit %s" %
(trajectory.uuid, roi))
self._region_visits[trajectory.uuid] = roi
break
def _cd_annotation(self,
log,
activity_rois=list(),
nonactivity_rois=list(),
wp=""):
cd_rois = list()
timestamp = log[0].header.stamp
for centroid in self._cd:
point = create_line_string([centroid.x, centroid.y])
for roi, region in self.regions.iteritems():
if is_intersected(region, point):
cd_rois.append(roi)
self.roi_cd[roi].append((timestamp.secs / 60) * 60)
for roi in activity_rois:
if roi in cd_rois:
self.cd[roi][wp]["TP"] += 1
else:
self.cd[roi][wp]["FN"] += 1
for roi in nonactivity_rois:
if roi in cd_rois:
self.cd[roi][wp]["FP"] += 1
else:
self.cd[roi][wp]["TN"] += 1
def _activity_annotation(self, log):
act_rois = list()
rospy.logwarn(
"Please wait until the new image appears before answering...")
rospy.logwarn("All questions are based on the image topic %s" %
rospy.get_name())
timestamp = log[0].header.stamp
datestamp = datetime.datetime.fromtimestamp(timestamp.secs)
wp = list()
for pose in self._robot_pos:
point = create_line_string([pose.x, pose.y])
for wp_name, wp_region in self.topo_map.iteritems():
if is_intersected(wp_region, point):
wp.append(wp_name)
if wp == list():
inpt = ""
while inpt not in self.topo_map.keys():
text = "Manual, From which region did the robot observed around %s? \n" % str(
datestamp)
text += "Please select from %s:" % str(self.topo_map.keys())
inpt = raw_input(text)
wp = inpt
elif len(list(set(wp))) > 1:
inpt = ""
while inpt not in self.topo_map.keys():
text = "From which region did the robot observed around %s? \n" % str(
datestamp)
text += "Please select from %s:" % str(list(set(wp)))
inpt = raw_input(text)
wp = inpt
else:
wp = wp[0]
self.wp_history.update({(timestamp.secs / 60) * 60: wp})
# listing all regions which activity happened from the image
text = "Which regions did the activity happen within a minute around %s? \n" % str(
datestamp)
text += "Please select from %s, " % str(self.regions.keys())
text += "and write in the following format '[reg_1,...,reg_n]'\n"
text += "(Press ENTER if no activity is observed): "
inpt = raw_input(text)
inpt = inpt.replace(" ", "")
inpt = inpt.replace("[", "")
inpt = inpt.replace("]", "")
act_rois = inpt.split(",")
if '' in act_rois and len(act_rois) == 1:
act_rois = list()
for roi in act_rois:
self.activity[roi][wp]["Present"] += 1
self.roi_activity[roi].append((timestamp.secs / 60) * 60)
# listing all regions which no activity happening from the image
text = "Which regions with no activity within a minute around %s? \n" % str(
datestamp)
text += "Please select from %s, " % str(self.regions.keys())
text += "and write in the following format '[reg_1,...,reg_n]'\n"
text += "(Press ENTER if all regions had an activity): "
inpt = raw_input(text)
inpt = inpt.replace(" ", "")
inpt = inpt.replace("[", "")
inpt = inpt.replace("]", "")
nact_rois = inpt.split(",")
if '' in nact_rois and len(nact_rois) == 1:
nact_rois = list()
for roi in nact_rois:
self.activity[roi][wp]["Absent"] += 1
self.roi_non_activity[roi].append((timestamp.secs / 60) * 60)
return act_rois, nact_rois, wp