def main():
scans = glob(opt.scans_path + "/*")
for scan in scans:
scenename = scan.split("/")[-1]
filename = os.path.join(scan, scenename + ".sens")
if not os.path.exists(opt.output_path):
os.makedirs(opt.output_path)
os.makedirs(os.path.join(opt.output_path, 'depth'))
os.makedirs(os.path.join(opt.output_path, 'color'))
os.makedirs(os.path.join(opt.output_path, 'pose'))
os.makedirs(os.path.join(opt.output_path, 'intrinsic'))
# load the data
sys.stdout.write('loading %s...' % filename)
sd = SensorData(filename)
sys.stdout.write('loaded!\n')
if opt.export_depth_images:
sd.export_depth_images(
os.path.join(opt.output_path, 'depth', scenename))
if opt.export_color_images:
sd.export_color_images(
os.path.join(opt.output_path, 'color', scenename))
if opt.export_poses:
sd.export_poses(os.path.join(opt.output_path, 'pose', scenename))
if opt.export_intrinsics:
sd.export_intrinsics(
os.path.join(opt.output_path, 'intrinsic', scenename))
def __init__(self, name):
Thread.__init__(self)
self.enableAdaptor = True
self.connector = SmtpClientConnector()
self.sensorData = SensorData()
self.actuator = ActuatorData("AC/Humidifier")
self.data = DataUtil()
class AirQSensorAdaptor(Thread):
'''
Initiating the thread for the Adaptor
creating the sensor data object and initial values to use inside Adaptor
'''
def __init__(self, name):
Thread.__init__(self)
self.enableAdaptor = True
self.sensorData = SensorData(name)
self.actuator = ActuatorData("AC/Humidifier")
self.connector = SmtpClientConnector()
'''
This thread gets the current temperature from SenseHat.
Publishes the values as a message to the gateway device
'''
def run(self):
while True:
if self.enableAdaptor:
sleep(1)
self.sensorData.updateValue()
data = DataUtil()
jsonData = data.sensorTojson(self.sensorData)
#Print sensor information
print('\n--------------------')
print('New sensor readings for publishing:')
print(' ' + str(self.sensorData))
pubclient = MqttClientConnector()
pubclient.publish(host, "airqm", jsonData)
sleep(60)
def update_matrix():
temp_data = SensorData()
sensor_temp_outside = temp_data.temp_outside()
rain_probability = RainData().rain_probability()
sensor_temp_inside = temp_data.temp_inside()
update_list = {
1: ('Grüne Matrix', matrix_green, 'sensor_temp_outside', sensor_temp_outside),
2: ('Orange Matrix', matrix_orange, 'rain_probability', rain_probability),
3: ('Rote Matrix', matrix_red, 'sensor_temp_inside', sensor_temp_inside)
}
try:
for matrix, value in update_list.items():
value[1].clear()
value[1].display_16x8_buffer(value[3])
value[1].write_display()
log_string('{} updated mit {} - {}'.format(value[0], value[2], value[3]))
blink('red')
time.sleep(0.25)
except IOError:
log_string('Matrix Error')
return
async def data_handler(data):
logger = logging.getLogger(__name__)
# Get that data into an object
data_object = SensorData()
try:
data_object.ParseFromString(data)
logger.info(json.dumps(data_object.asDict()), extra={'data': True})
except DecodeError:
logger.info("Received non-protobuf encoded message (probably an advertisement)")
def main():
if not os.path.exists(opt.output_path):
os.makedirs(opt.output_path)
# load the data
sys.stdout.write('loading %s...' % opt.filename)
sd = SensorData(opt.filename)
sys.stdout.write('loaded!\n')
if opt.export_depth_images:
sd.export_depth_images(os.path.join(opt.output_path, 'depth'))
if opt.export_color_images:
sd.export_color_images(os.path.join(opt.output_path, 'color'))
if opt.export_poses:
sd.export_poses(os.path.join(opt.output_path, 'pose'))
if opt.export_intrinsics:
sd.export_intrinsics(os.path.join(opt.output_path, 'intrinsic'))
def processSensorData(data):
#this functions processeses the data recieved from client
#mnumber += 1
#print("message number is : " + str(mnumber))
jsonLog = {}
jsonLog['mydata'] = []
sensor = SensorData()
print('Ip Address ::' + ':'.join('{:02X}'.format(a) for a in data[:8]))
sensor.parseSensorData(data, 8)
print(sensor.printSensorData())
jsonLog['mydata'].append({
'timestamp': str(datetime.datetime.now()),
'temperature': temp,
'pressure': press,
'humidity': humidity,
'acc_x': acc_x,
'acc_y': acc_y,
'acc_z': acc_z
})
#add this packet data to /tmp/data.txt file which is a json file
with open('/tmp/data.txt', 'a') as outfile:
json.dump(jsonLog, outfile)
fo.seek(0, 0) # set file pointer to zero to read from first position
readVal = fo.read(2) # read first two bytes
if readVal == "OK":
print('read OK')
fo.seek(0, 0) # set file pointer to zero
# write all data to buffer file where it can be picked by the GUI
fo.write(str(sensor.temperature))
fo.write("\n")
fo.write(str(sensor.pressure))
fo.write("\n")
fo.write(str(sensor.humidity))
fo.write("\n")
fo.write(str(sensor.acc_x))
fo.write("\n")
fo.write(str(sensor.acc_y))
fo.write("\n")
fo.write(str(sensor.acc_z))
fo.write("\n") # write all sensor value
# /* SUBODH: My entry point */
# I am commenting the Cloud up load for now. Lets make it configurable from
# GUI in future
# uploadData(sensor.acc_x, sensor.acc_y, sensor.acc_z, sensor.pressure, sensor.temperature, sensor.humidity)
time.sleep(3)
def parseMessage(inputString):
# Split the string in parts into a list
splitUp = re.split(',', inputString)
length = len(splitUp)
# Create a sensor data object from the message
if splitUp[0] == 'se' and length == 5:
try:
se = SensorData(splitUp[1], splitUp[2], splitUp[3], splitUp[4])
return se
except IndexError:
print "Invalid strategy instruction format, instruction not created"
# Create a gps object from the message
elif splitUp[0] == 'gp' and length == 5:
try:
gp = GPS(splitUp[1], splitUp[2], splitUp[3], splitUp[4])
return gp
except IndexError:
print "Invalid strategy instruction format, instruction not created"
else:
print('Invalid message input')
def process(self, data):
# avoid processing empty data
if not data:
# self.log.error('Ignoring empty data processing')
return
# self.log.debug('Processing {data}'.format(data=data))
tokens = data.split(DELIMITER)
sensor_data = SensorData(tokens)
# if file not created then create it.
# Stop gap fix for date & time not set in Atheros
# Sync the time between Atheros and ATMega
# UPODXX... xx has to be replaced with POD serial number
if not self._file:
dt = float(tokens[DATE_TIME])
# sychronize Atheros system clock with ATMega
self.sync_datetime(dt)
#filename = datetime.fromtimestamp(dt).strftime('UPODXX%d%m%y.txt')
filename = tokens[0] + '.txt'
# self.log.info('Created file: {name}'.format(name=filename))
self._file = TxtWriter(filename) # RotatingTxtWriter(filename)
# pprint(vars(sensor_data))
# pprint(vars(sensor_data.GpsData))
# print data
#status = False
#while not status:
status = self._file.write(sensor_data)
def fetchData(self, time):
if debugging: print "SensorPacket.fetchData.flag0"
try:
if debugging: print "SensorPacket.fetchData.flag1"
if int(self.ser.in_waiting) > 0:
incoming = self.ser.readline().strip().rsplit(",")
if incoming == None:
print "Incoming is Null"
self.ser.reset_input_buffer()
print incoming
#print "Length:" + str(len(incoming))
self.tim = time
if debugging: print "SensorPacket.fetchData.flag2"
if len(incoming) == 4:
#print "SensorPacket.fetchData.flag3"
self.rpm = int(incoming[0])
self.throttle = int(incoming[1])
self.current = float(incoming[2])
self.voltage = float(incoming[3])
return SensorData(
'0', 'all',
[self.rpm, self.throttle, self.current, self.voltage],
self.tim)
return
except IndexError:
print "Wrong sensor data received, nothing sent"
except ValueError:
print "Wrong sensor data received, could not cast to int"
def get_sensor_data(self):
# Sensor data is being printed as
# ADDR HUM TEMP HEAT_INDEX - separated with tab
self.ser.write(PI_COMMANDS['GET_DATA'])
time.sleep(3)
sensor_raw_data = self.ser.readline().decode().strip()
sensor_data = SensorData('{}'.format(sensor_raw_data))
return sensor_data
def main():
if not os.path.exists(opt.output_path):
os.makedirs(opt.output_path)
# load the data
sys.stdout.write('loading %s...' % opt.filename)
sd = SensorData(opt.filename)
sys.stdout.write('loaded!\n')
name = os.path.splitext(os.path.basename(opt.filename))[0]
if opt.export_depth_images:
sd.export_depth_images(os.path.join(opt.output_path, 'depth'))
if opt.export_color_images:
# sd.export_color_images(os.path.join(opt.output_path, name), image_size=(130, 95), frame_skip=1)
sd.export_color_images(os.path.join(opt.output_path, name),
frame_skip=1)
if opt.export_poses:
sd.export_poses(os.path.join(opt.output_path, 'pose'))
if opt.export_intrinsics:
sd.export_intrinsics(os.path.join(opt.output_path, 'intrinsic'))
def getData(self):
try:
data = int(self.arduino.readline())
time = dt.datetime.now().strftime('%H:%M:%S.%f')
return SensorData(data, time)
except KeyboardInterrupt:
sys.exit()
except:
print("Can not convert data!")
return None
def reader(filename,
output_path,
export_depth_images=False,
export_color_images=False,
export_poses=False,
export_intrinsics=False):
if not os.path.exists(output_path):
os.makedirs(output_path)
# Load sensor data
print 'Loading {0}...'.format(filename)
sd = SensorData(filename)
print 'done. '
# Load each component
if export_depth_images:
sd.export_depth_images(os.path.join(output_path, 'depth'))
if export_color_images:
sd.export_color_images(os.path.join(output_path, 'color'))
if export_poses:
sd.export_poses(os.path.join(output_path, 'pose'))
if export_intrinsics:
sd.export_intrinsics(os.path.join(output_path, 'intrinsic'))
# def main():
# if not os.path.exists(opt.output_path):
# os.makedirs(opt.output_path)
# # load the data
# sys.stdout.write('loading %s...' % opt.filename)
# sd = SensorData(opt.filename)
# sys.stdout.write('loaded!\n')
# if opt.export_depth_images:
# sd.export_depth_images(os.path.join(opt.output_path, 'depth'))
# if opt.export_color_images:
# sd.export_color_images(os.path.join(opt.output_path, 'color'))
# if opt.export_poses:
# sd.export_poses(os.path.join(opt.output_path, 'pose'))
# if opt.export_intrinsics:
# sd.export_intrinsics(os.path.join(opt.output_path, 'intrinsic'))
# if __name__ == '__main__':
# main()
def jsonTosensor(self,jsonData):
sensedataDict = json.loads(jsonData)
sensedata = SensorData()
sensedata.name = sensedataDict['name']
sensedata.timeStamp = sensedataDict['timeStamp']
sensedata.temperature = sensedataDict['temperature']
sensedata.pressure = sensedataDict['pressure']
sensedata.humidity = sensedataDict['humidity']
return sensedata
def getThrottledata(self, time):
try:
while (self.ser.in_waiting):
incoming = self.ser.readline().rstrip()
self.throttle = int(incoming)
#print "throttle: " + incoming
self.tim = time
return SensorData('1', 'throttle', self.throttle, self.tim)
except IndexError:
print "Wrong current value, nothing sent"
def main():
if not os.path.exists(opt.root):
stdout("{} not exist, exit\n".format(opt.root))
return
root = opt.root
fileNames = os.listdir(root)
fileNames = [name for name in fileNames if name.find('scene') > -1]
stdout("Found {} scenes in {}\n".format(len(fileNames), root))
sort_nicely(fileNames)
for i, filename in enumerate(fileNames):
if i < opt.index:
continue
stdout("process {}th sense\n".format(i))
# set output path
output_path = os.path.join(root, filename)
stdout("output path is {}\n".format(output_path))
# filename renamed, load the data
filename = os.path.join(root, filename, filename + '.sens')
stdout("loading {} ... \n".format(filename))
sd = SensorData(filename)
stdout('loaded!\n')
if opt.export_depth_images:
sd.export_depth_images(os.path.join(output_path, 'depth'))
stdout("depth read\t")
if opt.export_color_images:
sd.export_color_images(os.path.join(output_path, 'color'))
stdout("color readed\t")
if opt.export_poses:
sd.export_poses(os.path.join(output_path, 'pose'))
stdout("pose readed\t")
if opt.export_intrinsics:
sd.export_intrinsics(os.path.join(output_path, 'intrinsic'))
stdout("intrinsic readed\t")
stdout('\n')
def main():
if not os.path.exists(opt.output_path):
os.makedirs(opt.output_path)
label_mapping = None
if opt.export_label_images:
label_map = util.read_label_mapping(opt.label_map_file, label_from='id', label_to='nyu40id')
scenes = [d for d in os.listdir(opt.scannet_path) if os.path.isdir(os.path.join(opt.scannet_path, d))]
print('Found %d scenes' % len(scenes))
for i in range(len(scenes)):
sens_file = os.path.join(opt.scannet_path, scenes[i], scenes[i] + '.sens')
label_path = os.path.join(opt.scannet_path, scenes[i], opt.label_type)
if opt.export_label_images and not os.path.isdir(label_path):
print_error('Error: using export_label_images option but label path %s does not exist' % label_path)
output_color_path = os.path.join(opt.output_path, scenes[i], 'color')
if not os.path.isdir(output_color_path):
os.makedirs(output_color_path)
output_depth_path = os.path.join(opt.output_path, scenes[i], 'depth')
if not os.path.isdir(output_depth_path):
os.makedirs(output_depth_path)
output_pose_path = os.path.join(opt.output_path, scenes[i], 'pose')
if not os.path.isdir(output_pose_path):
os.makedirs(output_pose_path)
output_label_path = os.path.join(opt.output_path, scenes[i], 'label')
if opt.export_label_images and not os.path.isdir(output_label_path):
os.makedirs(output_label_path)
# read and export
sys.stdout.write('\r[ %d | %d ] %s\tloading...' % ((i + 1), len(scenes), scenes[i]))
sys.stdout.flush()
sd = SensorData(sens_file)
sys.stdout.write('\r[ %d | %d ] %s\texporting...' % ((i + 1), len(scenes), scenes[i]))
sys.stdout.flush()
sd.export_color_images(output_color_path, image_size=[opt.output_image_height, opt.output_image_width], frame_skip=opt.frame_skip)
sd.export_depth_images(output_depth_path, image_size=[opt.output_image_height, opt.output_image_width], frame_skip=opt.frame_skip)
sd.export_poses(output_pose_path, frame_skip=opt.frame_skip)
if opt.export_label_images:
for f in range(0, len(sd.frames), opt.frame_skip):
label_file = os.path.join(label_path, str(f) + '.png')
image = np.array(imageio.imread(label_file))
image = sktf.resize(image, [opt.output_image_height, opt.output_image_width], order=0, preserve_range=True)
mapped_image = map_label_image(image, label_map)
imageio.imwrite(os.path.join(output_label_path, str(f) + '.png'), mapped_image)
print('')
def update_matrix():
temp_data = SensorData()
sensor_temp_outside = temp_data.temp_outside()
rain_probability = RainData().rain_probability()
sensor_temp_inside = temp_data.temp_inside()
update_list = {
1: ('Grüne Matrix', matrix_green, 'sensor_temp_outside',
sensor_temp_outside),
2:
('Orange Matrix', matrix_orange, 'rain_probability', rain_probability),
3:
('Rote Matrix', matrix_red, 'sensor_temp_inside', sensor_temp_inside)
}
try:
for matrix, value in update_list.items():
value[1].clear()
value[1].display_16x8_buffer(value[3])
value[1].write_display()
log_string('{} updated mit {} - {}'.format(value[0], value[2],
value[3]))
blink('red')
time.sleep(0.25)
except IOError:
log_string('Matrix Error')
return
def preprocess_data(foldername):
print(foldername)
os.makedirs(os.path.join('data/imgs', foldername), exist_ok=True)
os.makedirs(os.path.join('data/depths', foldername), exist_ok=True)
os.makedirs(os.path.join('data/masks', foldername), exist_ok=True)
os.makedirs(os.path.join('data/poses', foldername), exist_ok=True)
os.makedirs(os.path.join('data/intrinsics', foldername), exist_ok=True)
st = time.time()
sd = SensorData(
os.path.join(root_data_dir, foldername, '{}.sens'.format(foldername)))
sd_loading_time = time.time() - st
sd.export_poses(os.path.join('data/poses', foldername), FRAMESKIP)
sd.export_intrinsics(os.path.join('data/intrinsics', foldername))
st = time.time()
frame_indices = list(range(0, len(sd.frames), FRAMESKIP))
sd.extract_color_depth_data(frame_indices, FRAMESKIP)
color_depth_extract_time = time.time() - st
zip_path = os.path.join(root_data_dir, foldername,
'{}_2d-label-filt.zip'.format(foldername))
st = time.time()
filepaths = []
with ZipFile(zip_path) as zf:
for filepath in zf.namelist():
if os.path.splitext(filepath)[1] != '.png':
continue
filename = os.path.basename(filepath)
fileidx = int(os.path.splitext(filename)[0])
if fileidx % FRAMESKIP != 0:
continue
filepaths.append('{} {} {}'.format(zip_path, foldername, filepath))
with ProcessPoolExecutor(max_workers=POOL_NUM_WORKERS) as processpool:
processpool.map(extract_mask_data, filepaths)
mask_extract_time = time.time() - st
print(foldername, sd_loading_time, color_depth_extract_time,
mask_extract_time)
def testAddPower1(self):
# Open connection with the database
db = MySQLdb.connect("localhost", "root", "reverse", "ecoData")
cursor = db.cursor()
# Add a information to the database
dr = SensorData("1", "throttle", 7, "123.456.789")
addToDatabase(dr)
# Get information from the database
cursor.execute("SELECT * FROM Throttle")
result = cursor.fetchone()
dbId = result[0]
dbType = result[1]
dbData = result[2]
dbTimestamp = result[3]
# Close the connection and wipe the database
db.close()
cleardb()
self.assertTrue(dbId == 1 and dbType == "throttle" and dbData == "7"
and dbTimestamp == "123.456.789")
def fetchData(self, time):
try:
print "SensorPacket.fetchData.flag1"
#print self.ser.is_open
if self.ser.in_waiting > 0:
incoming = self.ser.readline().strip().rsplit(",")
print incoming
#print "Length:" + str(len(incoming))
self.tim = time
# print "SensorPacket.fetchData.flag2"
if len(incoming) == 4:
# print "SensorPacket.fetchData.flag3"
self.rpm = int(incoming[0])
self.throttle = int(incoming[1])
self.current = float(incoming[2])
self.voltage = float(incoming[3])
return SensorData(
'0', 'all',
[self.rpm, self.throttle, self.current, self.voltage],
self.tim)
# print "SensorPacket.fetchData.flag4: No data received."
return
except IndexError:
print "Wrong sensor data received, nothing sent"
except ValueError:
print "Wrong sensor data received, could not cast to int"
except:
e = sys.exc_info()[0]
print "Something went wrong."
print "Error: " + str(e)
def process(scene_name):
out_path_cur = os.path.join(path_out, scene_name)
if not os.path.exists(out_path_cur):
os.makedirs(out_path_cur)
# load mesh
mesh = trimesh.load(os.path.join(path_in, scene_name,
scene_name + '_vh_clean.ply'),
process=False)
txt_file = os.path.join(path_in, scene_name, '%s.txt' % scene_name)
mesh, align_mat = align_axis(txt_file, mesh)
mesh, scale_mat = scale_to_unit_cube(mesh)
scale_matrix = np.linalg.inv(scale_mat @ align_mat)
file_cur = os.path.join(path_in, scene_name, scene_name + '.sens')
sd = SensorData(file_cur)
sd.export_depth_images(os.path.join(path_out, scene_name, 'depth'),
frame_skip=1)
sd.process_camera_dict(join(path_out, scene_name), scale_matrix)
pcl = sample_points(mesh)
out_file = join(path_out, scene_name, 'pointcloud.npz')
np.savez(out_file, **pcl)
def getThrottledata(self):
return SensorData('2', 'throttle', self.throttle, self.tim)
def getRPMdata(self):
return SensorData('1', 'rpm', self.rpm, self.tim)
def export(scene):
sens_file = os.path.join(opt.scannet_path, scene, scene + '.sens')
if not os.path.isfile(sens_file):
print_error('Error: sens path %s does not exist' % sens_file)
output_scene_path = os.path.join(opt.scannet_path, scene)
print(output_scene_path, sens_file)
''' pose and color '''
output_pose_path = os.path.join(opt.scannet_path, scene, 'pose')
if not os.path.isdir(output_pose_path):
os.makedirs(output_pose_path)
output_color_path = os.path.join(opt.scannet_path, scene, 'color')
if not os.path.isdir(output_color_path):
os.makedirs(output_color_path)
''' depth '''
if opt.export_depth_images:
output_depth_path = os.path.join(opt.scannet_path, scene, 'depth')
if not os.path.isdir(output_depth_path):
os.makedirs(output_depth_path)
''' label '''
label_path = os.path.join(opt.scannet_path, scene, opt.label_type)
if opt.export_label_images and not os.path.isdir(label_path):
print_error(
'Error: using export_label_images option but label path %s does not exist'
% label_path)
if opt.export_label_images:
output_label_path = os.path.join(opt.scannet_path, scene,
'mapped_' + opt.label_type)
if opt.export_label_images and not os.path.isdir(output_label_path):
os.makedirs(output_label_path)
## read and export
#sys.stdout.write('\r[ %d | %d ] %s\tloading...' % ((i + 1), len(scenes), scenes[i]))
#sys.stdout.flush()
sd = SensorData(sens_file)
#sys.stdout.write('\r[ %d | %d ] %s\texporting...' % ((i + 1), len(scenes), scenes[i]))
#sys.stdout.flush()
sd.export_intrinsics(output_scene_path)
sd.export_poses(output_pose_path, frame_skip=opt.frame_skip)
sd.export_color_images(
output_color_path,
image_size=[opt.output_image_height, opt.output_image_width],
frame_skip=opt.frame_skip)
if opt.export_depth_images:
sd.export_depth_images(
output_depth_path,
image_size=[opt.output_image_height, opt.output_image_width],
frame_skip=opt.frame_skip)
if opt.export_label_images:
for f in range(0, len(sd.frames), opt.frame_skip):
label_file = os.path.join(label_path, str(f) + '.png')
image = np.array(imageio.imread(label_file))
image = sktf.resize(
image, [opt.output_image_height, opt.output_image_width],
order=0,
preserve_range=True,
mode='constant')
mapped_image = map_label_image(image, label_map)
#print(np.min(mapped_image), np.max(mapped_image))
imageio.imwrite(os.path.join(output_label_path,
str(f) + '.png'), mapped_image)
def testToString(self):
self.assertEquals(
SensorData("1", "power", 5, "123.456").toString(),
"SensorId: 1, MessageType: power, Data: 5, timestamp: 123.456")
def testGetTimeStamp(self):
self.assertEquals(
SensorData("1", "power", 5, "123.456").getTimestamp(), "123.456")
def testGetData(self):
self.assertEquals(SensorData("1", "power", 5, "123.456").getData(), 5)
def getCurrentdata(self):
return SensorData('3', 'current', self.current, self.tim)
def getVoltagedata(self):
return SensorData('4', 'votlage', self.voltage, self.tim)
def testCorrectSensor(self):
sen = SensorData(1, "power", 2, 3)
self.assertEqual(writeMessage(sen), "se,1,power,2,3")
