def main():
# Get parameters
bundle_topic = rospy.get_param('~bundle_topic', '/bc/bundle')
src_bag_path = rospy.get_param('~source_bag_path', None)
backchannel_topic = rospy.get_param('~backchannel_topic', '/bc/backchannels')
sink_bag_path = rospy.get_param('~sink_bag_path', None)
# Instantiate source
if src_bag_path:
bundle_source = BagSource(src_bag_path, bundle_topic)
else:
bundle_source = TopicSource(bundle_topic, Bundle)
# Instantiate sinks
if sink_bag_path:
bag = rosbag.Bag(sink_bag_path, 'w')
backchannel_sink = BagSink(bag, backchannel_topic, Backchannel)
else:
bag = None
backchannel_sink = TopicSink(backchannel_topic, Backchannel)
with conditional(bag, bag):
with bundle_source, backchannel_sink:
for msg, t in bundle_source:
if random.random() > 0.2:
backchannel_msg = Backchannel()
backchannel_msg.header.stamp = t
pids = [1,2,3]
to_pid = random.choice(pids)
pids.remove(to_pid)
from_pid = random.choice(pids)
backchannel_msg.to_pid = to_pid
backchannel_msg.from_pid = from_pid
backchannel_sink.put(backchannel_msg, t)
def get_configuration():
# Get topic parameters from each camera
gaze_topic_camera1 = rospy.get_param('gaze_topic_1', '/camera1/face_info')
gaze_topic_camera2 = rospy.get_param('gaze_topic_2', '/camera2/face_info')
gaze_topic_camera3 = rospy.get_param('gaze_topic_3', '/camera3/face_info')
# get broadcasted start time and window duration
start_time_topic = rospy.get_param('start_time_topic', '/bc/start_time')
window_duration_topic = rospy.get_param('window_duration_topic',
'/bc/window_duration')
#create a features topic for publishing the combined nod message
features_topic = rospy.get_param('features_topic', '/bc/gaze_features')
# Get source, sink parameters
src_bag_path = rospy.get_param('source_bag_path', None)
sink_bag_path = rospy.get_param('sink_bag_path', None)
# Instantiate sources
if src_bag_path:
gaze_src_1 = BagSource(src_bag_path, gaze_topic_camera1)
gaze_src_2 = BagSource(src_bag_path, gaze_topic_camera2)
gaze_src_3 = BagSource(src_bag_path, gaze_topic_camera3)
start_time_src = BagSource(src_bag_path, start_time_topic)
window_duration_src = BagSource(src_bag_path, window_duration_topic)
else:
gaze_src_1 = TopicSource(gaze_topic_camera1, face_info)
gaze_src_2 = TopicSource(gaze_topic_camera2, face_info)
gaze_src_3 = TopicSource(gaze_topic_camera3, face_info)
start_time_src = TopicSource(start_time_topic, Time)
window_duration_src = TopicSource(window_duration_topic, Int32)
# Instantiate sinks
if sink_bag_path:
bag = rosbag.Bag(sink_bag_path, 'w')
features_sink = BagSink(bag, features_topic, GazeFeatures)
else:
bag = None
features_sink = TopicSink(features_topic, GazeFeatures)
# Get the start time
rospy.loginfo('Finding start time, window duration.')
with start_time_src:
msg, _ = next(start_time_src)
start_time = msg.data
# Get the window duration
with window_duration_src:
msg, _ = next(window_duration_src)
window_duration = rospy.Duration(msg.data / 1000.)
rospy.loginfo('Found start time, window duration.')
gaze_sources = (gaze_src_1, gaze_src_2, gaze_src_3)
return (bag, gaze_sources, features_sink, start_time, window_duration)
def test_topic(self):
from std_msgs.msg import String
rospy.init_node('test_topic', anonymous=True)
topic = '/test_topic'
source = TopicSource(topic, String)
sink = TopicSink(topic, String)
pub = rospy.Publisher(topic, String)
with source, sink:
while pub.get_num_connections() < 1:
rospy.sleep(2)
test_strs = ['a', 'b', 'c']
for s in test_strs:
sink.put(s, rospy.Time.now())
for msg, t in source:
self.assertTrue(msg.data in test_strs)
i = test_strs.index(msg.data)
test_strs.pop(i)
if not test_strs:
return
def get_configuration():
# Get topic parameters
audio_topic = rospy.get_param('audio_topic', '/pid1/chunk')
start_time_topic = rospy.get_param('start_time_topic', '/bc/start_time')
window_duration_topic = rospy.get_param('window_duration_topic',
'/bc/window_duration')
features_topic = rospy.get_param('features_topic', '/bc/audio_features')
# Get source, sink parameters
src_bag_path = rospy.get_param('source_bag_path', None)
sink_bag_path = rospy.get_param('sink_bag_path', None)
# Instantiate sources
if src_bag_path:
audio_source = BagSource(src_bag_path, audio_topic)
start_time_src = BagSource(src_bag_path, start_time_topic)
window_duration_src = BagSource(src_bag_path, window_duration_topic)
else:
audio_source = TopicSource(audio_topic, AudioChunk)
start_time_src = TopicSource(start_time_topic, Time)
window_duration_src = TopicSource(window_duration_topic, Int32)
# Instantiate sinks
if sink_bag_path:
bag = rosbag.Bag(sink_bag_path, 'w')
features_sink = BagSink(bag, features_topic, AudioFeatures)
else:
bag = None
features_sink = TopicSink(features_topic, AudioFeatures)
# Get the start time
rospy.loginfo('Finding start time, window duration.')
with start_time_src:
msg, _ = next(start_time_src)
start_time = msg.data
# Get the window duration
with window_duration_src:
msg, _ = next(window_duration_src)
window_duration = rospy.Duration(msg.data / 1000.)
rospy.loginfo('Found start time, window duration.')
return (bag, audio_source, features_sink, start_time, window_duration)
def main():
# Get parameters
probability_topic = rospy.get_param('~probability_topic',
'/bc/probabilities')
backchannel_topic = rospy.get_param('~backchannel_topic',
'/bc/backchannels')
threshold = rospy.get_param('~threshold', 0.9)
src_bag_path = rospy.get_param('~source_bag_path', None)
sink_bag_path = rospy.get_param('~sink_bag_path', None)
# Instantiate source
if src_bag_path:
probability_source = BagSource(src_bag_path, probability_topic)
else:
probability_source = TopicSource(probability_topic,
BackchannelProbability)
# Instatiate bag, if necessary
if sink_bag_path:
bag = rosbag.Bag(sink_bag_path, 'w')
bc_sink = BagSink(bag, backchannel_topic, Backchannel)
else:
bag = None
bc_sink = TopicSink(backchannel_topic, Backchannel)
predictors = {1: {}, 2: {}, 3: {}}
for actor_pid in [1, 2, 3]:
for receiver_pid in [1, 2, 3]:
if actor_pid == receiver_pid:
continue
predictors[actor_pid][receiver_pid] = Predictor(
actor_pid, receiver_pid, threshold)
with conditional(bag, bag):
with probability_source, bc_sink:
for msg, t in probability_source:
predictors[msg.from_pid][msg.to_pid].put(msg.probability, t)
for bc_t in predictors[msg.from_pid][msg.to_pid]:
new_msg = Backchannel()
new_msg.header.stamp = bc_t
new_msg.from_pid = msg.from_pid
new_msg.to_pid = msg.to_pid
bc_sink.put(new_msg, bc_t)
def main():
# listens for messages on 2 topics, combines them all into a single, flattens them into a joint message by time
rospy.init_node('bundler', anonymous=True)
# Get parameters
audio_features_P1_bag_path = rospy.get_param('~audio_features_P1_bag_path', None)
audio_features_P2_bag_path = rospy.get_param('~audio_features_P2_bag_path', None)
audio_features_P3_bag_path = rospy.get_param('~audio_features_P3_bag_path', None)
audio_features_P1_topic = rospy.get_param('~audio_features_P1_topic', '/pid1/audio/features')
audio_features_P2_topic = rospy.get_param('~audio_features_P2_topic', '/pid2/audio/features')
audio_features_P3_topic = rospy.get_param('~audio_features_P3_topic', '/pid3/audio/features')
start_time_topic = rospy.get_param('~start_time_topic', '/bc/start_time')
start_time_bag_path = rospy.get_param('~start_time_bag_path', None)
window_duration = rospy.get_param('~window_duration', None)
window_duration_topic = rospy.get_param('~window_duration_topic', '/bc/window_duration')
window_duration_bag_path = rospy.get_param('~window_duration_bag_path', None)
output_topic = rospy.get_param('~output_topic', '/bc/bundle')
sink_bag_path = rospy.get_param('~sink_bag_path', None)
# Instantiate sources
if audio_features_P1_bag_path:
audio_features_P1_src = BagSource(audio_features_P1_bag_path, audio_features_P1_topic)
else:
audio_features_P1_src = TopicSource(audio_features_P1_topic, AudioFeatures)
if audio_features_P2_bag_path:
audio_features_P2_src = BagSource(audio_features_P2_bag_path, audio_features_P2_topic)
else:
audio_features_P2_src = TopicSource(audio_features_P2_topic, AudioFeatures)
if audio_features_P3_bag_path:
audio_features_P3_src = BagSource(audio_features_P3_bag_path, audio_features_P3_topic)
else:
audio_features_P3_src = TopicSource(audio_features_P3_topic, AudioFeatures)
# Instantiate sink
if sink_bag_path:
sink_bag = rosbag.Bag(sink_bag_path, 'w')
sink = BagSink(sink_bag, output_topic, Bundle)
else:
sink_bag = None
sink = TopicSink(output_topic, Bundle)
# Find start time, window_duration
if start_time_bag_path:
start_time_src = BagSource(start_time_bag_path, start_time_topic)
else:
start_time_src = TopicSource(start_time_topic, Time)
with start_time_src:
rospy.loginfo('Finding start time.')
msg, _ = next(start_time_src)
start_time = msg.data
rospy.loginfo('Found start time.')
# Set window duration
if window_duration:
window_duration = rospy.Duration(window_duration)
else:
if window_duration_bag_path:
window_duration_src = BagSource(window_duration_bag_path, window_duration_topic)
else:
window_duration_src = TopicSource(window_duration_topic, Int32)
with window_duration_src:
rospy.loginfo('Finding window duration')
msg, _ = next(window_duration_src)
rospy.loginfo('Found window duration')
window_duration = rospy.Duration(msg.data / 1000.)
# Set-up combiner
combiner = Combiner(start_time, window_duration, ['audio_features_P1', 'audio_features_P2', 'audio_features_P3'])
with conditional(sink_bag, sink_bag):
with audio_features_P1_src, audio_features_P2_src, audio_features_P3_src, sink:
sync = Synchronizer([audio_features_P1_src, audio_features_P2_src, audio_features_P3_src])
for (audio_features_P1, audio_features_P2, audio_features_P3) in sync:
for (msg, t) in audio_features_P1:
combiner.put('audio_features_P1', msg, t, t + window_duration)
for (msg, t) in audio_features_P2:
combiner.put('audio_features_P2', msg, t, t + window_duration)
for (msg, t) in audio_features_P3:
combiner.put('audio_features_P3', msg, t, t + window_duration)
for bundle, start, end in combiner:
h = Header()
h.stamp = start
bundle['header'] = h
sink.put(bundle, start)
def main():
# Get topic parameters
audio_topic = rospy.get_param('~audio_topic')
start_time = rospy.get_param('~start_time', None)
window_duration = rospy.get_param('~window_duration', None)
start_time_topic = rospy.get_param('~start_time_topic', '/bc/start_time')
window_duration_topic = rospy.get_param('~window_duration_topic',
'/bc/window_duration')
features_topic = rospy.get_param('~features_topic', '/bc/audio_features')
# Get source, sink parameters
src_bag_path = rospy.get_param('~source_bag_path', None)
sink_bag_path = rospy.get_param('~sink_bag_path', None)
# Instantiate sources
if src_bag_path:
audio_src = BagSource(src_bag_path, audio_topic)
start_time_src = BagSource(src_bag_path, start_time_topic)
window_duration_src = BagSource(src_bag_path, window_duration_topic)
else:
audio_src = TopicSource(audio_topic, AudioData)
start_time_src = TopicSource(start_time_topic, Time)
window_duration_src = TopicSource(window_duration_topic, Int32)
# Instantiate sinks
if sink_bag_path:
bag = rosbag.Bag(sink_bag_path, 'w')
features_sink = BagSink(bag, features_topic, AudioFeatures)
else:
bag = None
features_sink = TopicSink(features_topic, AudioFeatures)
# Get the start time
rospy.loginfo('Finding start time, window duration.')
if not start_time:
with start_time_src:
msg, _ = next(start_time_src)
start_time = msg.data
# Get the window duration
if window_duration:
window_duration = rospy.Duration(window_duration)
else:
with window_duration_src:
msg, _ = next(window_duration_src)
window_duration = rospy.Duration(msg.data / 1000.)
rospy.loginfo('Found start time, window duration.')
with conditional(bag, bag):
with audio_src, features_sink:
def put_features(bundle, t):
h = Header()
h.stamp = t
bundle['header'] = h
features_sink.put(bundle, t)
msg, t = next(audio_src)
audio = ((msg.data, t) for (msg, t) in audio_src)
compute_audio_features(audio=audio,
put_features=put_features,
start_time=start_time,
window_duration=window_duration,
get_duration=rospy.Duration,
sample_rate=msg.sample_rate,
sample_width=msg.sample_width,
num_channels=msg.num_channels,
is_bigendian=msg.is_bigendian)
def main():
# listens for messages on 2 topics, combines them all into a single, flattens them into a joint message by time
rospy.init_node('bundler', anonymous=True)
# Get parameters
audio_topic = rospy.get_param('~audio_topic', '/bc/audio_features')
audio_bag_path = rospy.get_param('~audio_bag_path', None)
nod_topic = rospy.get_param('~nod_topic', '/bc/nod_features')
nod_bag_path = rospy.get_param('~nod_bag_path', None)
start_time_topic = rospy.get_param('~start_time_topic', '/bc/start_time')
start_time_bag_path = rospy.get_param('~start_time_bag_path', None)
window_duration_topic = rospy.get_param('~window_duration_topic',
'/bc/window_duration')
window_duration_bag_path = rospy.get_param('~window_duration_bag_path',
None)
output_topic = rospy.get_param('~output_topic', '/bc/bundle')
sink_bag_path = rospy.get_param('~sink_bag_path', None)
# Instantiate sources
if audio_bag_path:
audio_src = BagSource(audio_bag_path, audio_topic)
else:
audio_src = TopicSource(audio_topic, AudioFeatures)
if nod_bag_path:
# nod_src = BagSource(nod_bag_path, nod_topic)
nod_src = BagSource(nod_bag_path, nod_topic)
else:
# nod_src = TopicSource(nod_topic, NodFeature)
nod_src = TopicSource(nod_topic, NodFeatures)
if start_time_bag_path:
start_time_src = BagSource(start_time_bag_path, start_time_topic)
else:
start_time_src = TopicSource(start_time_topic, Time)
if window_duration_bag_path:
window_duration_src = BagSource(window_duration_bag_path,
window_duration_topic)
else:
window_duration_src = TopicSource(window_duration_topic, Int32)
# Instantiate sink
if sink_bag_path:
sink_bag = rosbag.Bag(sink_bag_path, 'w')
sink = BagSink(sink_bag, output_topic, Bundle)
else:
sink_bag = None
sink = TopicSink(output_topic, Bundle)
# Set-up combiner
rospy.loginfo('Finding start time, window duration.')
with start_time_src:
msg, _ = next(start_time_src)
start_time = msg.data
with window_duration_src:
msg, _ = next(window_duration_src)
window_duration = rospy.Duration(msg.data / 1000.)
rospy.loginfo('Found start time, window duration.')
combiner = Combiner(start_time, window_duration, ['audio', 'nod'])
with conditional(sink_bag, sink_bag):
with audio_src, nod_src, sink:
sync = Synchronizer([audio_src, nod_src])
for (audio, nod) in sync:
for (msg, t) in audio:
combiner.put('audio', msg, t, t + window_duration)
for (msg, t) in nod:
combiner.put('nod', msg, t, t + window_duration)
for bundle, start, end in combiner:
h = Header()
h.stamp = start
bundle['header'] = h
sink.put(bundle, start)