def main(args):
sec = "humandetector"
args = sys.argv[1:]
option_dict = configparse.parse_args_to_param_dict(args, sec)
rospy.init_node('HumanDetector')
#READ PARAMETERS:
host = option_dict.get_option(sec, 'host')
port = option_dict.get_option(sec, 'port')
source = option_dict.get_option(sec, 'video_source')
freq = option_dict.get_option(sec, 'update_frequency')
# Transform is fixed
transform = [[0, 0, 0.63]]
detector = HumanDetector(host, port, freq, source, transform)
detector.connect()
detector.run()
cv.DestroyAllWindows()
return self.vid_mem_reader.get_latest_image()[0]
def usage():
print "You should add the configuration options on the command line."
print ""
print "Usage: ", sys.argv[0], " host=<controller_host> port=<controller_port> updatefreq=<update frequency>"
print ""
if __name__ == "__main__":
if len(sys.argv) < 3:
usage()
exit()
sec = "snapshotsaver" #section in config_dict
args = sys.argv[1:]
config_dict = configparse.parse_args_to_param_dict(args, sec)
update_frequency = config_dict.get_option(sec, "updatefreq")
controller_ip = config_dict.get_option(sec, "host")
controller_port = config_dict.get_option(sec, "port")
destination = config_dict.get_option(sec, "destination")
use_verbose = config_dict.get_option(sec, "verbose", "False")
prefix = config_dict.get_option(sec, "prefix", "")
sect = config_dict.get_section(sec)
print sect
if not (update_frequency and controller_ip and controller_port):
usage()
exit()
logging.getLogger('Borg.Brain').addHandler(util.loggingextra.ScreenOutput())
fp = open(location_file, "w")
fp.write("name,x,y,angle\n")
else:
fp = open(location_file, "a")
fp.write("%s,%f,%f,%f\n" % (name, odo['x'], odo['y'], odo['angle']))
fp.close()
print "File saved"
if __name__ == "__main__":
logging.getLogger('Borg.Brain').addHandler(loggingextra.ScreenOutput())
logging.getLogger('Borg.Brain').setLevel(logging.INFO)
#PARSE COMMAND LINE ARGUMENTS
section = "remote" # in config_dict
arguments = sys.argv[1:]
config_dict = configparse.parse_args_to_param_dict(arguments, section)
#READ PARAMETERS:
controller_ip = config_dict.get_option(section, 'host')
controller_port = config_dict.get_option(section, 'port')
#START:
remote = Remote(controller_ip, controller_port)
remote.connect()
remote.train()
try:
remote.run()
finally:
remote.stop()
merged = segmentations[0]
for segments in segmentations:
for y in range(len(segments)):
for x in range(len(segments[0])):
if segments[y][x] < merged[y][x]:
merged[y][x] = segments[y][x]
return merged
if __name__ == "__main__":
""" run obstacledetector as an behavior """
sec = "obstacledetector" #section in config_dict
args = sys.argv[1:]
option_dict = configparse.parse_args_to_param_dict(args, sec)
logging.getLogger('Borg.Brain').addHandler(
util.loggingextra.ScreenOutput())
logging.getLogger('Borg.Brain').setLevel(logging.INFO)
#READ PARAMETERS:
controller_ip = option_dict.get_option(sec, 'host')
controller_port = option_dict.get_option(sec, 'port')
source = option_dict.get_option(sec, 'video_source')
print "OBSTACLE AVOIDANCE STARTING AT %s : %s" % (controller_ip,
controller_port)
detector = ObstacleDetector(controller_ip, controller_port, source=source)
detector.connect()
detector.run()
if not os.path.exists(location_file):
fp = open(location_file, "w")
fp.write("name,x,y,angle\n")
else:
fp = open(location_file, "a")
fp.write("%s,%f,%f,%f\n" % (name, odo['x'], odo['y'], odo['angle']))
fp.close()
print "File saved"
if __name__ == "__main__":
logging.getLogger('Borg.Brain').addHandler(loggingextra.ScreenOutput())
logging.getLogger('Borg.Brain').setLevel(logging.INFO)
#PARSE COMMAND LINE ARGUMENTS
section = "remote" # in config_dict
arguments = sys.argv[1:]
config_dict = configparse.parse_args_to_param_dict(arguments, section)
#READ PARAMETERS:
controller_ip = config_dict.get_option(section,'host')
controller_port = config_dict.get_option(section,'port')
#START:
remote = Remote(controller_ip, controller_port)
remote.connect()
remote.train()
try:
remote.run()
finally:
remote.stop()
