def do_ecto():
baggers = dict(image=ImageBagger(topic_name='/camera/rgb/image_color'),
depth=ImageBagger(topic_name='/camera/depth/image'),
)
bagreader = ecto_ros.BagReader('Bag Ripper',
baggers=baggers,
bag=sys.argv[1],
)
im2mat_rgb = ecto_ros.Image2Mat()
im2mat_depth = ecto_ros.Image2Mat()
graph = [
bagreader["image"] >> im2mat_rgb["image"],
im2mat_rgb["image"] >> highgui.imshow("rgb show", name="rgb")[:],
bagreader["depth"] >> im2mat_depth["image"],
im2mat_depth["image"] >> highgui.imshow("depth show", name="depth")[:]
]
plasm = ecto.Plasm()
plasm.connect(graph)
ecto.view_plasm(plasm)
sched = ecto.Scheduler(plasm)
sched.execute()
def connect_background_source(self):
json_db_str = '{"type": "CouchDB", "root": "http://localhost:5984", "collection": "object_recognition"}'
self.json_db = ecto.Constant(value=json_db_str)
object_id_str = '4680aac58c1d263b9449d57bd2000f27'
self.object_id = ecto.Constant(value=object_id_str)
self.image_ci = ecto_ros.CameraInfo2Cv('camera_info -> cv::Mat')
self.image = ecto_ros.Image2Mat()
self.depth = ecto_ros.Image2Mat()
bag = "/home/sam/rosbags/sigverse/no_objects.bag"
ImageBagger = ecto_sensor_msgs.Bagger_Image
CameraInfoBagger = ecto_sensor_msgs.Bagger_CameraInfo
baggers = dict(
image=ImageBagger(
topic_name='/hsrb/head_rgbd_sensor/rgb/image_raw'),
image_ci=CameraInfoBagger(
topic_name='/hsrb/head_rgbd_sensor/rgb/camera_info'),
depth=ImageBagger(
topic_name='/hsrb/head_rgbd_sensor/depth/image_raw'),
)
# this will read all images in the path
path = '/home/sam/Code/vision/VOCdevkit/VOC2012/JPEGImages'
self.file_source = ImageReader(path=os.path.expanduser(path))
self.bag_reader = ecto_ros.BagReader('Bag Reader',
baggers=baggers,
bag=bag,
random_access=True,
)
self.rgb = imgproc.cvtColor(
'bgr -> rgb', flag=imgproc.Conversion.BGR2RGB)
self.display = highgui.imshow(name='Training Data', waitKey=10000)
self.image_mux = ecto_yolo.ImageMux()
self.graph += [
self.bag_reader['image'] >> self.image['image'],
self.bag_reader['depth'] >> self.depth['image'],
self.image[:] >> self.rgb[:],
self.bag_reader['image_ci'] >> self.image_ci['camera_info'],
self.image_ci['K'] >> self.image_mux['K1'],
self.rgb['image'] >> self.image_mux['image1'],
self.depth['image'] >> self.image_mux['depth1'],
self.file_source['image'] >> self.image_mux['image2'],
]
def declare_cells(p):
#this is the private synchronization subscriber setup.
#NOTE that these are all ROS remappable on the command line in typical ros fashion
cells = BaseSource.declare_cells(p)
baggers = dict(
image=ImageBagger(topic_name='/bogus_topic'),
depth=ImageBagger(topic_name='/bogus_topic'),
image_info=CameraInfoBagger(topic_name='/bogus_topic'),
depth_info=CameraInfoBagger(topic_name='/bogus_topic'),
)
cells.update(baggers)
cells['source'] = ecto_ros.BagReader('Bag Reader',
bag='/bogus',
baggers=baggers)
return cells
def declare_io(self, p, i, o):
BaseSource.declare_io(self, p, i, o)
#this is the private synchronization subscriber setup.
#NOTE that these are all ROS remappable on the command line in typical ros fashion
#TODO Should these just be simple names where remapping is expected?
baggers = dict(
image=ImageBagger(topic_name='/camera/rgb/image_color'),
depth=ImageBagger(topic_name='/camera/depth/image'),
image_info=CameraInfoBagger(topic_name='/camera/rgb/camera_info'),
depth_info=CameraInfoBagger(
topic_name='/camera/depth/camera_info'),
)
#Creating this in declare io, so that i can declare the output with a concrete type.
self._source = ecto_ros.BagReader('Bag Reader',
bag=p.bag,
baggers=baggers)
#notice that this is not a forward declare
#its a declaration with the name, and a pointer to a tendril.
o.declare('image_message', self._source.outputs.at('image'))
o.declare('depth_message', self._source.outputs.at('depth'))
o.declare('image_info_message', self._source.outputs.at('image_info'))
o.declare('depth_info_message', self._source.outputs.at('depth_info'))
def convert_bag(folder, file_name):
bag_path = '%s/%s' % (folder, file_name)
# TOD use that one and delete
tmp_bag_path = bag_path + str(random.random()) + '.tmp'
tmp_bag_path = '/tmp/' + str(random.random()) + '.tmp'
print 'converting the bags to the new format in file "%s"' % tmp_bag_path
baggers_reader = dict(
info=CameraInfoBagger(topic_name='camera_info'),
rgb=ImageBagger(topic_name='image_color'),
depth=PointCloud2Bagger(topic_name='points'),
)
bagreader = ecto_ros.BagReader('bag reader',
baggers=baggers_reader,
bag=bag_path)
baggers_writer = dict(
info_rgb=CameraInfoBagger(topic_name='/camera/rgb/camera_info'),
info_depth=CameraInfoBagger(topic_name='/camera/depth/camera_info'),
rgb=ImageBagger(topic_name='/camera/rgb/image_color'),
depth=ImageBagger(topic_name='/camera/depth/image'))
bagwriter = ecto_ros.BagWriter('bag writer',
baggers=baggers_writer,
bag=tmp_bag_path)
pcd_msg2depth_msg = ecto_ros.PointCloud22DepthImage()
plasm = ecto.Plasm()
plasm.connect([
bagreader['info'] >> bagwriter['info_rgb'],
bagreader['info'] >> bagwriter['info_depth'],
bagreader['rgb'] >> bagwriter['rgb'],
bagreader['depth'] >> pcd_msg2depth_msg['cloud'],
pcd_msg2depth_msg['image'] >> bagwriter['depth']
])
sched = ecto.schedulers.Singlethreaded(plasm)
sched.execute()
return tmp_bag_path
import object_recognition_yolo.ecto_cells.ecto_yolo as ecto_yolo
parser = argparse.ArgumentParser(description='Test detection.')
bag = "/home/sam/rosbags/sigverse/stroll.bag"
ImageBagger = ecto_sensor_msgs.Bagger_Image
CameraInfoBagger = ecto_sensor_msgs.Bagger_CameraInfo
baggers = dict(
image=ImageBagger(topic_name='/hsrb/head_rgbd_sensor/rgb/image_raw'),
image_ci=CameraInfoBagger(topic_name='/hsrb/head_rgbd_sensor/rgb/camera_info'),
)
source = ecto_ros.BagReader(
'Bag Reader',
baggers=baggers,
bag=bag,
random_access=False,
)
image = ecto_ros.Image2Mat()
rgb = imgproc.cvtColor('bgr -> rgb', flag=imgproc.Conversion.BGR2RGB)
display = imshow(name='RGB', triggers=dict(save=ord('s')))
detector = ecto_yolo.Detector(
data_config="/home/sam/OrkData/cfg/ork.dataset",
network_config="/home/sam/OrkData/cfg/yolov3-ork.cfg",
weights="/home/sam/OrkData/weights/yolov3-ork_34000.weights",
detection_threshold=0.2,
)
# ecto options
bag = "/home/sam/rosbags/sigverse/no_objects.bag"
baggers = dict(
image=ImageBagger(topic_name='/hsrb/head_rgbd_sensor/rgb/image_raw'),
image_ci=CameraInfoBagger(
topic_name='/hsrb/head_rgbd_sensor/rgb/camera_info'),
depth=ImageBagger(topic_name='/hsrb/head_rgbd_sensor/depth/image_raw'),
)
# this will read all images in the path
path = '/home/sam/Code/vision/VOCdevkit/VOC2012/JPEGImages'
file_source = ImageReader(path=os.path.expanduser(path))
bag_reader = ecto_ros.BagReader(
'Bag Reader',
baggers=baggers,
bag=bag,
random_access=True,
)
rgb = imgproc.cvtColor('bgr -> rgb', flag=imgproc.Conversion.BGR2RGB)
display = highgui.imshow(name='Training Data', waitKey=10000)
image_mux = ecto_yolo.ImageMux()
pose_drawer = PoseDrawer()
rt_2_pose = ecto_ros.RT2PoseStamped(frame_id=frame_id_str)
graph = []