def viewer_main(modelfile=None,
config='',
zoom=False,
server=False,
response='pickle'):
experiment = Experiment(zoom=zoom)
if modelfile:
experiment.execute('loadmodel %s' % modelfile)
if not server:
experiment.execute('loadconfig %s' % config)
experiment.start()
if server:
receiver = Thread(target=receive, args=(experiment, response))
receiver.start()
experiment.join()
def load_model(modelfile, cameras, fnumber):
ex = Experiment()
ex.execute('loadmodel %s' % modelfile)
ex.execute('loadconfig')
# situate cameras on a side of the laser
for camera in cameras:
if ex.model[camera[0]].pose.T.y < \
ex.model[ex.model.active_laser].pose.T.y:
ex.model[camera[0]].negative_side = True
else:
ex.model[camera[0]].negative_side = False
# disable unspecified cameras
for camera in ex.model.cameras:
if not camera in [c[0] for c in cameras]:
ex.model[camera].active = False
# load lens lookup tables
lut = []
for camera in cameras:
lut.append(LensLUT(camera[1], fnumber))
return ex, lut
from adolphus.interface import Experiment
ex = Experiment(zoom=False)
ex.execute('loadmodel %s' % 'scene.yaml')
ex.execute('loadconfig %s' % '')
ex.start()
dest='threshold',
type=float,
default=0.0,
help='hysteresis threshold')
parser.add_argument('pathfile', help='path waypoint file')
args = parser.parse_args()
# Load path waypoints.
print('Loading path waypoints...')
points = []
with open(args.pathfile, 'r') as pf:
for line in pf.readlines():
points.append(Point(*[float(s) for s in line.rstrip().split(',')]))
path = interpolate_points(points)
# Set up displays and load the model.
print('Loading model...')
ex = Experiment(zoom=True)
ex.add_display()
ex.display.autoscale = True
ex.display.userspin = False
ex.display.forward = (0, 0, -1)
ex.display.up = (0, 1, 0)
ex.execute('loadmodel follow.yaml')
ex.execute('loadconfig')
# Compute the vision graph.
if os.path.exists('vgraph.pickle'):
print('Loading vision graph...')
vision_graph = pickle.load(open('vgraph.pickle', 'r'))
else:
try:
print('Computing vision graph...')
vision_graph = ex.model.coverage_hypergraph(ex.tasks['scene'], K=2)
