def __init__(self, soma_map, soma_conf, config_file=None):
self.soma_map = soma_map
self.soma_conf = soma_conf
if config_file:
self._config_file = config_file
else:
# default file
rp = RosPack()
path = rp.get_path('soma_objects') + '/config/'
filename = 'default.json'
self._config_file=path+filename
self._soma_obj_ids = dict()
self._soma_obj_msg = dict()
self._interactive = True
self._msg_store=MessageStoreProxy(collection="soma")
self._gs_store=GeoSpatialStoreProxy(db="geospatial_store", collection="soma")
self._server = InteractiveMarkerServer("soma")
self._init_types()
self._init_menu()
self.load_objects()
rospy.spin()
def __init__(self,
name,
soma_map,
soma_config,
minute_interval,
window_interval,
collection="occurrence_rates"):
self.topo_map = None
self.soma_map = soma_map
self.soma_config = soma_config
self.minute_interval = minute_interval
self.window_interval = window_interval
self.rotm = RegionObservationTimeManager(soma_map, soma_config)
self.tre = TrajectoryRegionEstimate(soma_map, soma_config,
minute_interval)
self.tof = TrajectoryOccurrenceFrequencies(
soma_map,
soma_config,
minute_interval=minute_interval,
window_interval=window_interval)
self.gs = GeoSpatialStoreProxy('geospatial_store', 'soma')
rospy.loginfo("Connect to database collection %s..." % collection)
self._ms = MessageStoreProxy(collection=collection)
self._soma_db = MessageStoreProxy(collection="soma_roi")
rospy.loginfo("Create a service %s/service..." % name)
self.service = rospy.Service(name + '/service',
TrajectoryOccurrenceRate, self.srv_cb)
rospy.loginfo("Create an action server %s..." % name)
self._as = actionlib.SimpleActionServer(name,
OccurrenceRateLearningAction,
execute_cb=self.execute,
auto_start=False)
self._as.start()
def __init__(self):
self.gs = GeoSpatialStoreProxy('geospatial_store', 'soma')
self.ms = MessageStoreProxy(collection="people_trajectory")
# setting up the service
self.ser = rospy.Service('/trajectory_query', TrajectoryQuery,
self.service_cb)
self.topic = 'trajectory_query'
self.vis = TrajectoryVisualizer(self.topic)
def __init__(self, soma_map, soma_config, minute_interval=60):
self.soma_map = soma_map
self.soma_config = soma_config
self.minute_interval = minute_interval
self.region_knowledge = RegionObservationTimeManager(
soma_map, soma_config)
# Service and Proxy
rospy.loginfo("Connecting to geospatial_store and roslog database...")
self.gs = GeoSpatialStoreProxy('geospatial_store', 'soma')
def __init__(self, soma_map, soma_config):
self.soma_map = soma_map
self.soma_config = soma_config
self.ms = MessageStoreProxy(collection="region_observation_time")
self.gs = GeoSpatialStoreProxy('geospatial_store', 'soma')
self.roslog = pymongo.MongoClient(
rospy.get_param("mongodb_host", "localhost"),
rospy.get_param("mongodb_port", 62345)
).roslog.robot_pose
self.reinit()
def __init__(self, online):
self._traj = dict()
rospy.loginfo("Connecting to mongodb...")
self.gs = GeoSpatialStoreProxy('geospatial_store', 'soma')
if not online:
# self._client = pymongo.MongoClient(rospy.get_param("mongodb_host"),
# rospy.get_param("mongodb_port"))
# self._store_client = MessageStoreProxy(
# collection="people_trajectory"
# )
self._traj = dict()
trajs = OfflineTrajectories()
for uuid, traj in trajs.traj.iteritems():
self._traj[uuid] = traj.get_trajectory_message()
else:
rospy.loginfo("Subscribing to /human_trajectories/trajectories...")
rospy.Subscriber("/human_trajectories/trajectories/complete",
Trajectories,
self.traj_callback,
None,
queue_size=10)
"""Recursively converts dictionary keys to strings."""
if isinstance(dictionary, unicode):
return str(dictionary)
elif isinstance(dictionary, list):
return dictionary
return dict(
(str(k), convert_keys_to_string(v)) for k, v in dictionary.items())
if __name__ == "__main__":
global __out
__out = True
rospy.init_node("trajectory_obtainer")
rospy.loginfo("Running trajectoy/ROI query ")
gs = GeoSpatialStoreProxy('geospatial_store', 'soma')
soma_map = 'uob_library'
soma_config = 'uob_lib_conf'
cnt = 0
for roi in gs.roi_ids(soma_map, soma_config):
cnt += 1
print 'ROI: ', gs.type_of_roi(roi, soma_map, soma_config), roi
geom = gs.geom_of_roi(roi, soma_map, soma_config)
res = gs.objs_within_roi(geom, soma_map, soma_config)
if res == None:
print "No Objects in this Region"
continue
objects_in_roi = {}
for i in res:
key = i['type'] + '_' + i['soma_id']
