def feedDatabaseWithCSVData(self):
# Feed in all the data from the room plan
existing_rooms = []
for row in self.csv_room_plan_:
# Check if the room is already documented and create a new RoomItem otherwise
room_id = int(row[3])
room = self.database_.getRoom(room_id)
if (room == None):
# Actually, an error should be risen, but for now...
print "ROOM WITH ID " + str(room_id) + " DOES NOT EXIST!"
room = database_classes.RoomItem()
self.database_.rooms_.append(room)
# Update the data of the concerning RoomItem
room.room_position_id_ = row[0]
room.room_floor_id_ = row[1]
room.room_building_id_ = row[2]
room.room_id_ = room_id
room.room_name_ = row[4]
room.room_surface_type_ = int(row[6])
room.room_cleaning_type_ = int(row[7])
room.room_surface_area_ = float(row[8])
room.room_trashcan_count_ = int(row[9])
existing_rooms.append(room.room_id_)
# Save the database
self.database_.saveRoomDatabase(temporal=False)
# Feed in all the data from the territory plan
for row in self.csv_territory_plan_:
room_id = int(row[3])
room = self.database_.getRoom(room_id)
if (room == None):
# Actually, an error should be risen, but for now...
print "ROOM WITH ID " + str(room_id) + " DOES NOT EXIST!"
room = database_classes.RoomItem()
self.database_.rooms_.append(room)
# Update the data of the concerning RoomItem
scheduled_days = []
for day in range(14):
scheduled_days.append(row[11 + day])
room.room_scheduled_days_ = scheduled_days
# Save the database
self.database_.saveRoomDatabase(temporal=False)
# Remove all rooms which were not listed in the room plan
for room in self.database_.rooms_:
if (not (room.room_id_ in existing_rooms)):
self.database_.rooms_.remove(room)
# Save the database
self.database_.saveRoomDatabase(temporal=False)
# Save the database
self.database_.saveRoomDatabase(temporal=False)
def createRoomEntries(self):
for i in range(len(self.segmentation_result_.room_information_in_pixel)):
print "Creating room " + str(i)
cv_image = self.getMapSegmentAsImage(self.cvBridge2OpenCv(self.segmentation_result_.segmented_map), i)
img_file_name = "map_" + str(i) + ".png"
cv2.imwrite("resources/maps/" + str(img_file_name), cv_image)
room = database_classes.RoomItem()
room.room_name_ = "room_" + str(i)
room.room_id_ = i
room.room_position_id_ = "1_" + str(i)
room.room_floor_id_ = "1st Floor"
room.room_building_id_ = "Building C"
room.room_territory_id_ = "42"
room.room_surface_type = 2
room.room_cleaning_method_ = 2
room.room_surface_area_ = 3.141
room.room_trashcan_count_ = 4
room.room_cleaning_datestamps_ = [None, None, None]
room.room_issues = []
room.room_map_ = img_file_name
room.room_map_data = self.openCv2CvBridge(cv_image)
room.room_map_filename_ = img_file_name
room.room_information_in_pixel_ = self.segmentation_result_.room_information_in_pixel[i]
room.room_information_in_meter_ = self.segmentation_result_.room_information_in_meter[i]
room.room_scheduled_days_ = ["","","","","","","","","","","","","",""]
room.open_cleaning_tasks_ = []
self.database_.rooms_.append(room)
def updateRoomsList(self, dict):
self.rooms_ = []
for room_key in dict:
room_issues = []
current_room = database_classes.RoomItem()
# Get all issues of a room and get all properties of those issues
issues_dict = dict.get(room_key).get("room_issues")
for issue_key in issues_dict:
current_issue = database_classes.RoomIssue()
# Get the room issue ID
current_issue.issue_id_ = issues_dict.get(issue_key).get("issue_id")
# Get the room issue type
current_issue.issue_type_ = issues_dict.get(issue_key).get("issue_type")
# Get the room issue images
current_issue.issue_images_ = issues_dict.get(issue_key).get("issue_images")
# Get the room issue coordinates
issue_coords_list = issues_dict.get(issue_key).get("issue_coords")
current_issue.issue_coords_ = Point32(x=issue_coords_list[0], y=issue_coords_list[1], z=issue_coords_list[2])
# Get the date the issue was detected
current_issue.issue_date_ = self.stringToDatetime(issues_dict.get(issue_key).get("issue_date"))
# Append current room issue to the room_issues list
room_issues.append(current_issue)
current_room.room_issues_ = room_issues
# Get the name of the room
current_room.room_name_ = dict.get(room_key).get("room_name")
# Get the ID of the room
current_room.room_id_ = dict.get(room_key).get("room_id")
# Get the position ID of the room
current_room.room_position_id_ = dict.get(room_key).get("room_position_id")
# Get the floor of the room
current_room.room_floor_id_ = dict.get(room_key).get("room_floor_id")
# Get the building ID of the room
current_room.room_building_id_ = dict.get(room_key).get("room_building_id")
# Get the territory the room is in
current_room.room_territory_id_ = dict.get(room_key).get("room_territory_id")
# Get the map of the room
current_room.room_map_filename_ = dict.get(room_key).get("room_map_filename")
# Get an open cv representation of the map or None if there is no map
if (current_room.room_map_filename_ != None):
room_map_file_path = str(self.extracted_file_path) + str("resources/maps/") + str(current_room.room_map_filename_)
map_opencv = cv2.imread(room_map_file_path, 0)
bridge = CvBridge()
current_room.room_map_data_ = bridge.cv2_to_imgmsg(map_opencv, encoding = "mono8")
else:
current_room.room_map_data = None
# Get the room information
pixel_coords = dict.get(room_key).get("room_information_in_pixel")
current_room.room_information_in_pixel_ = RoomInformation()
current_room.room_information_in_pixel_.room_center = Point32(x=pixel_coords[0][0], y=pixel_coords[0][1], z=pixel_coords[0][2])
current_room.room_information_in_pixel_.room_min_max.points.append(Point32(x=pixel_coords[1][0], y=pixel_coords[1][1], z=pixel_coords[1][2]))
current_room.room_information_in_pixel_.room_min_max.points.append(Point32(x=pixel_coords[2][0], y=pixel_coords[2][1], z=pixel_coords[2][2]))
meter_coords = dict.get(room_key).get("room_information_in_meter")
current_room.room_information_in_meter_ = RoomInformation()
current_room.room_information_in_meter_.room_center = Point32(x=meter_coords[0][0], y=meter_coords[0][1], z=meter_coords[0][2])
current_room.room_information_in_meter_.room_min_max.points.append(Point32(x=meter_coords[1][0], y=meter_coords[1][1], z=meter_coords[1][2]))
current_room.room_information_in_meter_.room_min_max.points.append(Point32(x=meter_coords[2][0], y=meter_coords[2][1], z=meter_coords[2][2]))
# Get the room surface type
current_room.room_surface_type_ = dict.get(room_key).get("room_surface_type")
# Get the cleaning method of the room
current_room.room_cleaning_method_ = dict.get(room_key).get("room_cleaning_method")
# Get the room surface area
current_room.room_surface_area_ = dict.get(room_key).get("room_surface_area")
# Get the room trashcan count
current_room.room_trashcan_count_ = dict.get(room_key).get("room_trashcan_count")
# Get the days where the room has to be cleaned in a specified way
current_room.room_scheduled_days_ = dict.get(room_key).get("room_scheduled_days")
# Get the yet open cleaning tasks
current_room.open_cleaning_tasks_ = dict.get(room_key).get("open_cleaning_tasks")
# Get the list with the datestamps
string_datestamp_list = dict.get(room_key).get("room_cleaning_datestamps")
datestamps = []
for datestamp in string_datestamp_list:
if (datestamp != None):
datestamps.append(self.stringToDatetime(datestamp))
else:
datestamps.append(None)
current_room.room_cleaning_datestamps_ = datestamps
# Append current room object to the rooms_ list
self.rooms_.append(current_room)