def start(self):
bag = open_bag(self._nocam_path)
bag_start_time = self._get_start_time(self._cam_path)
gripper_event_processor = GripperEventProcessor(bag_start_time)
for topic, message, time in bag.read_messages():
model = message_factory.model(message)
if model is None:
continue
gripper_event_processor.update(topic, model, time)
bag.close()
events = gripper_event_processor.events()
for i, event in enumerate(events):
self._events.append(event)
rospy.logwarn('Event {} of {}'.format(i+1, len(events)))
rospy.logwarn('Start time: {}'.format(event.start_time))
rospy.logwarn('Duration: {}'.format(event.duration))
subprocess.call(
[
'rosbag', 'play', self._cam_path,
'--topics', topics.KINECT_IMAGE,
'--start', str(event.start_time),
'--duration', str(event.duration),
'--rate=8'
]
)
has_prompted = False
while self._num_written < i+1:
if not has_prompted:
rospy.logwarn('Publish the object name to gripper_playback/objects.')
has_prompted = True
def process_code((path, object_timeline)):
"""Extract features from a webcam coding."""
print('Processing', path)
bag = open_bag(path)
if bag is None:
return None
code_processor = processors.Code(object_timeline)
for topic, message, time in bag.read_messages():
model = message_factory.model(message)
if model is None:
continue
code_processor.update(topic, model, time)
bag.close()
return code_processor.object_stats(), code_processor.timeline()
def process_experiment((path, object_timeline)):
"""Extract features of the bag file."""
print('Processing', path)
bag = open_bag(path)
if bag is None:
return None
object_stats = ObjectStats()
time_taken_processor = processors.TimeTaken(object_timeline)
camera_movement_processor = processors.CameraMovementTime(object_timeline)
marker_movement_processor = processors.MarkerMovementTime(object_timeline)
grasp_count_processor = processors.GraspCount(object_timeline)
for topic, message, time in bag.read_messages(topics=EXPERIMENT_TOPICS):
model = message_factory.model(message)
if model is None:
continue
time_taken_processor.update(topic, model, time)
camera_movement_processor.update(topic, model, time)
marker_movement_processor.update(topic, model, time)
grasp_count_processor.update(topic, model, time)
bag.close()
time_taken_processor.update_last()
object_stats.update(time_taken_processor.object_stats())
object_stats.update(camera_movement_processor.object_stats())
object_stats.update(marker_movement_processor.object_stats())
object_stats.update(grasp_count_processor.object_stats())
for obj, stats in object_stats.items():
stats['other_time'] = (
stats['time_taken'] - stats['camera_movement_time'] -
stats['marker_movement_time']
)
timeline = build_timeline(
marker_movement_processor.timeline(),
camera_movement_processor.timeline())
return object_stats, timeline
