from comm import comm, mapper
import subprocess, os, shutil
import jds_utils.dir_tools
comm.setDataRoot("/home/joschu/Data/test_comm")
dir_tools.ensure_exists(comm.getDataRoot())
def delTopic(topic):
path = comm.topicPath(topic)
if os.path.exists(path):
shutil.rmtree(path)
#
topicA = "topicA"
topicB = "topicB"
delTopic(topicA)
delTopic(topicB)
pubA = comm.FilePublisher(topicA, "txt")
pubB = comm.FilePublisher(topicB, "txt")
msgsA = [comm.FloatMessage(t) for t in [0, 1, 2, 3]]
msgsB = [comm.FloatMessage(t) for t in [-1, 0, 0.1, 0.9]]
for msg in msgsA:
pubA.send(msg)
for msg in msgsB:
pubB.send(msg)
class TestParMap(mapper.ParallelMapper):
__builtins__.__openravepy_version__ = '0.4'
import openravepy as rave
import numpy as np
from os.path import join
import time
from comm import comm
env = rave.Environment()
env.SetViewer('qtcoin')
env.Load('robots/pr2-beta-sim.robot.xml')
pr2 = env.GetRobots()[0]
comm.setDataRoot("/home/joschu/Data/comm3")
jointSub = comm.FileSubscriber("joints","txt",comm.ArrayMessage)
rosnames = np.load("/home/joschu/Data/knot_kinect2/joint_names.npy")
ros2rave = np.array([pr2.GetJointIndex(name) for name in rosnames])
while True:
try:
msg = jointSub.recv()
except StopIteration:
break
rosvalues = msg.data
goodrosinds = np.flatnonzero(ros2rave != -1)
raveinds = ros2rave[goodrosinds]
self.window_name = "labeling"
cv2.namedWindow(self.window_name,cv2.cv.CV_WINDOW_NORMAL)
with open(self.args.classifier,"r") as fh:
self.classifier = cPickle.load(fh)
self.mask = cv2.imread(self.args.mask,0)
def add_extra_arguments(self, parser):
parser.add_argument('classifier',type=str)
parser.add_argument('--mask',default=join(comm.DATA_ROOT,"once/roi_mask.png"))
return parser
def func(self, (xyz,bgr)):
bgr = bgr.copy()
label = self.classifier.predict(bgr,self.mask)
x,y,z = xyz[:,:,0], xyz[:,:,1], xyz[:,:,2]
depth = np.sqrt(x**2+y**2+z**2)
depth[np.isnan(depth)] = np.inf
good = np.zeros(depth.shape,bool)
good[1:] |= np.abs(depth[1:] - depth[:-1]) < .02
good[:,1:] |= np.abs(depth[:,1:] - depth[:,:-1]) < .02
good = ndi.binary_erosion(good, np.ones((3,3)))
label *= good
cv2.imshow(self.window_name,annotation.colorizeLabels(bgr,label))
cv2.waitKey(10)
return label
comm.setDataRoot()
M = LabelImages()
M.run()
cv2.namedWindow(self.window_name, cv2.cv.CV_WINDOW_NORMAL)
with open(self.args.classifier, "r") as fh:
self.classifier = cPickle.load(fh)
self.mask = cv2.imread(self.args.mask, 0)
def add_extra_arguments(self, parser):
parser.add_argument('classifier', type=str)
parser.add_argument('--mask',
default=join(comm.DATA_ROOT, "once/roi_mask.png"))
return parser
def func(self, (xyz, bgr)):
bgr = bgr.copy()
label = self.classifier.predict(bgr, self.mask)
x, y, z = xyz[:, :, 0], xyz[:, :, 1], xyz[:, :, 2]
depth = np.sqrt(x**2 + y**2 + z**2)
depth[np.isnan(depth)] = np.inf
good = np.zeros(depth.shape, bool)
good[1:] |= np.abs(depth[1:] - depth[:-1]) < .02
good[:, 1:] |= np.abs(depth[:, 1:] - depth[:, :-1]) < .02
good = ndi.binary_erosion(good, np.ones((3, 3)))
label *= good
cv2.imshow(self.window_name, annotation.colorizeLabels(bgr, label))
cv2.waitKey(10)
return label
comm.setDataRoot()
M = LabelImages()
M.run()
from comm import comm, mapper
import subprocess, os, shutil
import jds_utils.dir_tools
comm.setDataRoot("/home/joschu/Data/test_comm")
dir_tools.ensure_exists(comm.getDataRoot())
def delTopic(topic):
path = comm.topicPath(topic)
if os.path.exists(path):
shutil.rmtree(path)
#
topicA = "topicA"
topicB = "topicB"
delTopic(topicA)
delTopic(topicB)
pubA = comm.FilePublisher(topicA, "txt")
pubB = comm.FilePublisher(topicB, "txt")
msgsA = [comm.FloatMessage(t) for t in [0, 1, 2, 3]]
msgsB = [comm.FloatMessage(t) for t in [-1, 0, .1, .9]]
for msg in msgsA:
pubA.send(msg)
for msg in msgsB:
pubB.send(msg)
class TestParMap(mapper.ParallelMapper):
