def load(self, camera_config, local_config, scale=1.0):
if camera_config is None:
if os.path.exists(local_config):
# load local config file if it exists
result = props_json.load(local_config, self.config)
if not result:
print("Cannot continue with invalid camera file.")
quit()
else:
print(
"no camera config specified and no local camera config file found:",
local_config)
quit()
else:
# seed the camera calibration and distortion coefficients
# from a known camera config
print("Setting camera config from:", camera_config)
props_json.load(camera_config, self.config)
self.config.setString('name', camera_config)
props_json.save(local_config, self.config)
self.get_K()
if scale:
# adjust effective K to account for scaling
self.K = self.K * scale
self.K[2, 2] = 1.0
self.config.setLen('mount_ypr', 3, 0)
def load_images_info(self):
# wipe image list (so we don't double load)
self.image_list = []
# load image meta info
meta_dir = os.path.join(self.analysis_dir, "meta")
images_node = getNode("/images", True)
for file in sorted(os.listdir(meta_dir)):
if fnmatch.fnmatch(file, '*.json'):
name, ext = os.path.splitext(file)
image_node = images_node.getChild(name, True)
props_json.load(os.path.join(meta_dir, file), image_node)
i1 = image.Image(self.analysis_dir, name)
self.image_list.append(i1)
def load(self, create=True):
if not self.validate_project_dir(create):
return
# load project configuration
result = False
project_file = os.path.join(self.analysis_dir, "config.json")
config_node = getNode("/config", True)
if os.path.isfile(project_file):
if props_json.load(project_file, config_node):
# fixme:
# if 'matcher' in project_dict:
# self.matcher_params = project_dict['matcher']
# root.pretty_print()
result = True
else:
log("Notice: unable to load: ", project_file)
else:
log("project: project configuration doesn't exist:", project_file)
if not result and create:
log("Continuing with an empty project configuration")
self.set_defaults()
elif not result:
log("Project load failed, aborting...")
quit()
# overwrite project_dir with current location (this will get
# saved out into the config.json, but projects could relocate
# and it's more important to have the actual current location)
self.dir_node.setString('project_dir', self.project_dir)
def load(self, create=True):
if not self.validate_project_dir():
return
# load project configuration
result = False
project_file = os.path.join(self.project_dir, "config.json")
config_node = getNode("/config", True)
if os.path.isfile(project_file):
if props_json.load(project_file, config_node):
# fixme:
# if 'matcher' in project_dict:
# self.matcher_params = project_dict['matcher']
# root.pretty_print()
result = True
else:
print("Notice: unable to load: ", project_file)
else:
print("Notice: project configuration doesn't exist:", project_file)
if not result and create:
print("Continuing with an empty project configuration")
self.set_defaults()
elif not result:
print("aborting...")
quit()
def load_images_info(self):
# load image meta info
result = False
meta_dir = os.path.join(self.analysis_dir, 'meta')
images_node = getNode("/images", True)
for file in os.listdir(meta_dir):
if fnmatch.fnmatch(file, '*.json'):
name, ext = os.path.splitext(file)
image_node = images_node.getChild(name, True)
props_json.load(os.path.join(meta_dir, file), image_node)
# images_node.pretty_print()
# wipe image list (so we don't double load)
self.image_list = []
for name in images_node.getChildren():
img = image.Image(self.analysis_dir, name)
self.image_list.append( img )
def set_camera(project_dir,
camera,
yaw_deg=0.0,
pitch_deg=-90.0,
roll_deg=0.0):
proj = ProjectMgr.ProjectMgr(project_dir)
if camera:
# specified on command line
camera_file = camera
else:
# auto detect camera from image meta data
camera, make, model, lens_model = proj.detect_camera()
camera_file = os.path.join("..", "cameras", camera + ".json")
print("Camera:", camera_file)
# copy/overlay/update the specified camera config into the existing
# project configuration
cam_node = getNode('/config/camera', True)
tmp_node = PropertyNode()
if props_json.load(camera_file, tmp_node):
for child in tmp_node.getChildren(expand=False):
if tmp_node.isEnum(child):
# print(child, tmp_node.getLen(child))
for i in range(tmp_node.getLen(child)):
cam_node.setFloatEnum(child, i,
tmp_node.getFloatEnum(child, i))
else:
# print(child, type(tmp_node.__dict__[child]))
child_type = type(tmp_node.__dict__[child])
if child_type is float:
cam_node.setFloat(child, tmp_node.getFloat(child))
elif child_type is int:
cam_node.setInt(child, tmp_node.getInt(child))
elif child_type is str:
cam_node.setString(child, tmp_node.getString(child))
else:
print('Unknown child type:', child, child_type)
proj.cam.set_mount_params(yaw_deg, pitch_deg, roll_deg)
# note: dist_coeffs = array[5] = k1, k2, p1, p2, k3
# ... and save
proj.save()
else:
# failed to load camera config file
if not camera:
print("Camera autodetection failed.")
print(
"Consider running the new camera script to create a camera config"
)
print("and then try running this script again.")
else:
print("Provided camera config not found:", camera)
def load_area_info(self, area='area-00'):
# load image meta info for specified sub area
result = False
meta_dir = os.path.join(self.project_dir, 'meta')
images_node = getNode("/images", True)
area_file = os.path.join(self.project_dir, area, 'image_list')
area_list = pickle.load(open(area_file, 'rb'))
for name in area_list:
meta_file = os.path.join(meta_dir, name + ".json")
image_node = images_node.getChild(name, True)
props_json.load(meta_file, image_node)
# images_node.pretty_print()
# wipe image list (so we don't double load)
self.image_list = []
for name in images_node.getChildren():
image = Image.Image(meta_dir, name)
self.image_list.append(image)
# make sure our matcher gets a copy of the image list
self.render.setImageList(self.image_list)
for row in full_list:
writer.writerow(row)
# copy config.json from first listed source project
print("Copying config.json from source project")
config_src = os.path.join(args.source[0], "ImageAnalysis", "config.json")
config_dest = os.path.join(analysis_dir, "config.json")
if os.path.exists(config_src):
shutil.copyfile(config_src, config_dest)
# assemble the collective smart.json file
print("Combining all the smart.json files")
smart_node = getNode("/smart", True)
for p in args.source:
smart_src = os.path.join(p, "ImageAnalysis", "smart.json")
props_json.load(smart_src, smart_node)
smart_dst = os.path.join(project_dir, "ImageAnalysis", "smart.json")
props_json.save(smart_dst, smart_node)
# assemble the collective annotations.json file
print("Combining any annotations.json files")
ann_node = getNode("/annotations", True)
ann_list = []
for p in args.source:
ann_src = os.path.join(p, "ImageAnalysis", "annotations.json")
if os.path.exists(ann_src):
f = open(ann_src, 'r')
ann_list += json.load(f)
ann_dst = os.path.join(project_dir, "ImageAnalysis", "annotations.json")
f = open(ann_dst, 'w')
json.dump(ann_list, f, indent=4)
def load(analysis_dir):
surface_file = os.path.join(analysis_dir, "smart.json")
props_json.load(surface_file, smart_node)
args = parser.parse_args()
#file = args.movie
scale = args.scale
skip_frames = args.skip_frames
# pathname work
abspath = os.path.abspath(args.movie)
filename, ext = os.path.splitext(abspath)
dirname = os.path.dirname(args.movie)
output_csv = filename + ".csv"
camera_config = dirname + "/camera.json"
# load config file if it exists
config = PropertyNode()
props_json.load(camera_config, config)
cam_yaw = config.getFloatEnum('mount_ypr', 0)
cam_pitch = config.getFloatEnum('mount_ypr', 1)
cam_roll = config.getFloatEnum('mount_ypr', 2)
# setup camera calibration and distortion coefficients
if args.select_cam:
# set the camera calibration from known preconfigured setups
name, K, dist = cam_calib.set_camera_calibration(args.select_cam)
config.setString('name', name)
config.setFloat("fx", K[0][0])
config.setFloat("fy", K[1][1])
config.setFloat("cu", K[0][2])
config.setFloat("cv", K[1][2])
for i, d in enumerate(dist):
config.setFloatEnum("dist_coeffs", i, d)
def load(self, filename, host="localhost", port=6499):
print "Tuner.load " + str(port)
basename = os.path.basename(str(filename))
fileroot, ext = os.path.splitext(basename)
if filename == "":
error = QtGui.QErrorMessage(self)
error.showMessage(
"Error, you must specify an autopilot config file name")
return
elif not os.path.exists(filename):
error = QtGui.QErrorMessage(self)
error.showMessage(filename + ": does not exist")
return
try:
props_json.load(filename, root)
except:
error = QtGui.QErrorMessage(self)
error.showMessage(filename + ": parse error:\n" +
str(sys.exc_info()[1]))
return
self.filename = str(filename)
self.fileroot, ext = os.path.splitext(self.filename)
# Route follow parameters
self.L1 = L1Controller(changefunc=self.onChange, host=host, port=port)
L1_node = getNode('/L1_controller', create=True)
self.L1.parse(L1_node)
self.tabs.addTab(self.L1.get_widget(), "L1")
# PID controller parameters
print root.getChild('component')
len = root.getLen('component')
#comp_node = getNode('/component', create=True)
for i in range(len):
node_name = 'component[%d]' % i
print node_name
node = root.getChild(node_name)
comp_type = node.getString('module')
if comp_type == 'pid_component':
pid = Component(index=i,
changefunc=self.onChange,
host=host,
port=port,
type="pid")
elif comp_type == 'pid_vel_component':
pid = Component(index=i,
changefunc=self.onChange,
host=host,
port=port,
type="vel")
elif comp_type == 'summer':
pid = Component(index=i,
changefunc=self.onChange,
host=host,
port=port,
type="sum")
else:
print "unknown ..."
next
pid.parse(node)
self.components.append(pid)
self.tabs.addTab(pid.get_widget(), pid.get_name())
from control import navigation
from drivers import pilot_helper
from health import health
from mission import mission_mgr
from util import myprof, timer
parser = argparse.ArgumentParser(description="Rice Creak UAS flight code")
parser.add_argument("--config", required=True, help="path to config tree")
parser.add_argument("--verbose",
action="store_true",
help="enable additional console verbocity")
args = parser.parse_args()
# load master config file
config_file = os.path.join(args.config, "main.json")
result = props_json.load(config_file, root)
if result:
print("Loaded master configuration file:", config_file)
if args.verbose:
root.pretty_print()
config_node = getNode("/config")
config_node.setString("path", args.config)
else:
print("*** Cannot load master config file:", config_file)
print()
print("Cannot continue without a valid configuration, sorry.")
exit(-1)
# shared property nodes
comms_node = getNode("/comms", True)
imu_node = getNode("/sensors/imu", True)
camera = camera.replace(' ', '_')
return camera
image1 = args.image1
image2 = args.image2
cam1 = detect_camera(image1)
cam2 = detect_camera(image2)
print(cam1)
print(cam2)
cam1_node = getNode("/camera1", True)
cam2_node = getNode("/camera2", True)
if props_json.load(os.path.join("../cameras", cam1 + ".json"), cam1_node):
print("successfully loaded cam1 config")
if props_json.load(os.path.join("../cameras", cam2 + ".json"), cam2_node):
print("successfully loaded cam2 config")
tmp = []
for i in range(9):
tmp.append(cam1_node.getFloatEnum('K', i))
K1 = np.copy(np.array(tmp)).reshape(3, 3)
print("K1:", K1)
tmp = []
for i in range(5):
tmp.append(cam1_node.getFloatEnum('dist_coeffs', i))
dist1 = np.array(tmp)
print("dist1:", dist1)
# PropertyNode() branch that can't have a value, only childredn
imu.az = -9.80
# this should work
root.sensors.imu[2].az = -9.81
root.pretty_print()
print "alt_m:", root.sensors.gps[5].alt_m
config = getNode('/', create=True)
#file = '/home/curt/Source/AuraUAS/aura-data/config/main-skywalker.xml'
#props_xml.load(file, config)
#props_xml.save("testing.xml", config)
#props_json.save("testing.json", config)
newroot = PropertyNode()
props_json.load("/home/curt/Source/AuraUAS/aura-data/config/main-skywalker.json", newroot)
print "pretty:"
newroot.pretty_print()
quit()
print "sensor children:", sensors.getChildren()
for child in sensors.getChildren():
node = sensors.getChild(child)
print node
global_tasks = getNode("/config/mission/global_tasks");
print "global_tasks children:", global_tasks.getChildren()
print global_tasks.task[0].name
a = getNode("/task/home", True)
b = getNode("/task/home", True)
proj = project.ProjectMgr(args.project)
if args.camera:
# specified on command line
camera_file = args.camera
else:
# auto detect camera from image meta data
camera_name, make, model, lens_model = proj.detect_camera()
camera_file = os.path.join("..", "cameras", camera_name + ".json")
print("Camera:", camera_file)
# copy/overlay/update the specified camera config into the existing
# project configuration
cam_node = getNode('/config/camera', True)
tmp_node = PropertyNode()
if props_json.load(camera_file, tmp_node):
props_json.overlay(cam_node, tmp_node)
camera.set_mount_params(args.yaw_deg, args.pitch_deg, args.roll_deg)
# note: dist_coeffs = array[5] = k1, k2, p1, p2, k3
# ... and save
proj.save()
else:
# failed to load camera config file
if not args.camera:
print("Camera autodetection failed.")
print(
"Consider running the new camera script to create a camera config")
print("and then try running this script again.")
else:
# pathname work
abspath = os.path.abspath(args.video)
basename, ext = os.path.splitext(abspath)
srtname = basename + ".srt"
dirname = basename + "_frames"
print("basename:", basename)
print("srtname:", srtname)
print("dirname:", dirname)
local_config = os.path.join(dirname, "camera.json")
config = PropertyNode()
if args.camera:
# seed the camera calibration and distortion coefficients from a
# known camera config
print('Setting camera config from:', args.camera)
props_json.load(args.camera, config)
config.setString('name', args.camera)
props_json.save(local_config, config)
elif os.path.exists(local_config):
# load local config file if it exists
props_json.load(local_config, config)
K_list = []
for i in range(9):
K_list.append( config.getFloatEnum('K', i) )
K = np.copy(np.array(K_list)).reshape(3,3)
dist = []
for i in range(5):
dist.append( config.getFloatEnum("dist_coeffs", i) )
# check for required input files
if not os.path.isfile(args.video):
from props import getNode
import props_json
parser = argparse.ArgumentParser(description='autogen messages code.')
parser.add_argument('input', help='message definition file')
parser.add_argument('--namespace',
default="message",
help='optional namespace (for C++)')
args = parser.parse_args()
if not os.path.isfile(args.input):
print("Specified input file not found:", args.input)
quit()
root = getNode("/", True)
props_json.load(args.input, root)
# root.pretty_print()
if not root.hasChild("messages"):
print("No message definition found in:", args.input)
quit()
type_code = {
"double": 'd',
"float": 'f',
"uint64_t": "Q",
"int64_t": "q",
"uint32_t": 'L',
"int32_t": 'l',
"uint16_t": 'H',
"int16_t": 'h',
# PropertyNode() branch that can't have a value, only childredn
imu.az = -9.80
# this should work
root.sensors.imu[2].az = -9.81
root.pretty_print()
print "alt_m:", root.sensors.gps[5].alt_m
config = getNode('/', create=True)
#file = '/home/curt/Source/AuraUAS/aura-data/config/main-skywalker.xml'
#props_xml.load(file, config)
#props_xml.save("testing.xml", config)
#props_json.save("testing.json", config)
newroot = PropertyNode()
props_json.load(
"/home/curt/Source/AuraUAS/aura-data/config/main-skywalker.json", newroot)
print "pretty:"
newroot.pretty_print()
quit()
print "sensor children:", sensors.getChildren()
for child in sensors.getChildren():
node = sensors.getChild(child)
print node
global_tasks = getNode("/config/mission/global_tasks")
print "global_tasks children:", global_tasks.getChildren()
print global_tasks.task[0].name
a = getNode("/task/home", True)
b = getNode("/task/home", True)
parser.add_argument('--yaw-deg', required=True, type=float,
help='camera yaw mounting offset from aircraft')
parser.add_argument('--pitch-deg', required=True, type=float,
help='camera pitch mounting offset from aircraft')
parser.add_argument('--roll-deg', required=True, type=float,
help='camera roll mounting offset from aircraft')
args = parser.parse_args()
proj = ProjectMgr.ProjectMgr(args.project)
# copy/overlay/update the specified camera config into the existing
# project configuration
cam_node = getNode('/config/camera', True)
tmp_node = PropertyNode()
props_json.load(args.camera, tmp_node)
for child in tmp_node.getChildren(expand=False):
if tmp_node.isEnum(child):
# print(child, tmp_node.getLen(child))
for i in range(tmp_node.getLen(child)):
cam_node.setFloatEnum(child, i, tmp_node.getFloatEnum(child, i))
else:
# print(child, type(tmp_node.__dict__[child]))
child_type = type(tmp_node.__dict__[child])
if child_type is float:
cam_node.setFloat(child, tmp_node.getFloat(child))
elif child_type is int:
cam_node.setInt(child, tmp_node.getInt(child))
elif child_type is str:
cam_node.setString(child, tmp_node.getString(child))
else:
def load(self, cal_file):
config = PropertyNode()
try:
name, ext = os.path.splitext(cal_file)
if ext == '.json':
props_json.load(cal_file, config)
self.valid = True
elif ext == '.xml':
props_xml.load(cal_file, config)
self.valid = True
else:
return False
except:
print cal_file + ": load error:\n" + str(sys.exc_info()[1])
return False
root.pretty_print()
self.min_temp = config.getFloat('min_temp_C')
self.max_temp = config.getFloat('max_temp_C')
node = config.getChild('p')
if node:
p1, p2, p3 = node.getString('bias').split()
self.p_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.p_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('q')
if node:
p1, p2, p3 = node.getString('bias').split()
self.q_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.q_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('r')
if node:
p1, p2, p3 = node.getString('bias').split()
self.r_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.r_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('ax')
if node:
p1, p2, p3 = node.getString('bias').split()
self.ax_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.ax_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('ay')
if node:
p1, p2, p3 = node.getString('bias').split()
self.ay_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.ay_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('az')
if node:
p1, p2, p3 = node.getString('bias').split()
self.az_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.az_scale = np.array([p1, p2, p3], dtype=np.float64)
tokens = config.getString('mag_affine').split()
if len(tokens) == 16:
r = 0
c = 0
for i, x in enumerate(tokens):
self.mag_affine[r,c] = float(x)
c += 1
if c > 3:
c = 0
r += 1
self.mag_affine_inv = np.linalg.inv(self.mag_affine)
else:
print "mag_affine requires 16 values"
#print 'mag_affine:\n', self.mag_affine
#print 'mag_affine_inv:\n', self.mag_affine_inv
return True
def load(self, cal_file):
config = PropertyNode()
try:
name, ext = os.path.splitext(cal_file)
if ext == '.json':
props_json.load(cal_file, config)
self.valid = True
elif ext == '.xml':
props_xml.load(cal_file, config)
self.valid = True
else:
return False
except:
print(cal_file + ": load error:\n" + str(sys.exc_info()[1]))
return False
root.pretty_print()
self.min_temp = config.getFloat('min_temp_C')
self.max_temp = config.getFloat('max_temp_C')
node = config.getChild('p')
if node:
p1, p2, p3 = node.getString('bias').split()
self.p_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.p_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('q')
if node:
p1, p2, p3 = node.getString('bias').split()
self.q_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.q_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('r')
if node:
p1, p2, p3 = node.getString('bias').split()
self.r_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.r_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('ax')
if node:
p1, p2, p3 = node.getString('bias').split()
self.ax_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.ax_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('ay')
if node:
p1, p2, p3 = node.getString('bias').split()
self.ay_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.ay_scale = np.array([p1, p2, p3], dtype=np.float64)
node = config.getChild('az')
if node:
p1, p2, p3 = node.getString('bias').split()
self.az_bias = np.array([p1, p2, p3], dtype=np.float64)
p1, p2, p3 = node.getString('scale').split()
self.az_scale = np.array([p1, p2, p3], dtype=np.float64)
tokens = config.getString('mag_affine').split()
if len(tokens) == 16:
r = 0
c = 0
for i, x in enumerate(tokens):
self.mag_affine[r, c] = float(x)
c += 1
if c > 3:
c = 0
r += 1
self.mag_affine_inv = np.linalg.inv(self.mag_affine)
else:
print("mag_affine requires 16 values")
#print 'mag_affine:\n', self.mag_affine
#print 'mag_affine_inv:\n', self.mag_affine_inv
return True
# pathname work
abspath = os.path.abspath(args.movie)
filename, ext = os.path.splitext(abspath)
movie_log = filename + ".csv"
movie_config = filename + ".json"
# combinations that seem to work on linux
# ext = avi, fourcc = MJPG
# ext = avi, fourcc = XVID
# ext = mov, fourcc = MP4V
tmp_movie = filename + "_tmp.mov"
output_movie = filename + "_hud.mov"
# load config file if it exists
config = PropertyNode()
props_json.load(movie_config, config)
cam_yaw = config.getFloat('cam_yaw_deg')
cam_pitch = config.getFloat('cam_pitch_deg')
cam_roll = config.getFloat('cam_roll_deg')
# load movie log
movie = []
with open(movie_log, 'rb') as f:
for line in f:
movie.append( re.split('[,\s]+', line.rstrip()) )
flight_imu = []
flight_gps = []
flight_filter = []
flight_air = []
flight_pilot = []
