def writeFiles(self, outDir, writeLabels = True):
dir_tools.mkdir_ask(outDir)
if writeLabels: ann.MultiLabeler.writeFiles(self,outDir)
with open(os.path.join(outDir,"classifier.pkl"),"w") as fh:
cPickle.dump(self.cls, fh)
np.savetxt(os.path.join(outDir,"coeffs.txt"),self.cls.classifier.coef_)
np.savetxt(os.path.join(outDir,"intercepts.txt"),self.cls.classifier.intercept_)
def writeFiles(self, outDir):
dir_tools.mkdir_ask(outDir)
for (i,image) in enumerate(self.images):
outFile = "%s.label.png"%os.path.basename(self.imageFiles[i])
cv2.imwrite(os.path.join(outDir,outFile),self.labels[i])
with open(os.path.join(outDir,"label_info.json"),"w") as fh:
json.dump(
dict([(i, "LABEL_DESCRIPTION") for i in xrange(self.labelWindow.maxLabel)]),
fh)
print "wrote files to",outDir
#!/usr/bin/env python
import argparse, dir_tools
parser = argparse.ArgumentParser()
parser.add_argument("outdir")
args = parser.parse_args()
dir_tools.mkdir_ask(args.outdir)
import roslib
roslib.load_manifest('brett_pr2')
roslib.load_manifest('brett_utils')
import rospy
from brett_pr2.pr2 import PR2
from brett_utils.msg_utils import image2numpy
from brett_utils.shell_hax import rospack_find
import numpy as np
from time import sleep, time
import freenect
import sensor_msgs.msg as sm
from os.path import join
import cPickle
import cv2
rospy.init_node('record_calibration_images', disable_signals=True)
joints = np.loadtxt("calibration_joints.txt")
BRETT = PR2()
BRETT.rgrip.close(max_effort=-1)
BRETT.head.set_pan_tilt(0, .25)
#!/usr/bin/env python
import argparse, dir_tools
parser = argparse.ArgumentParser()
parser.add_argument("outdir")
args = parser.parse_args()
dir_tools.mkdir_ask(args.outdir)
import roslib
roslib.load_manifest('brett_pr2')
roslib.load_manifest('brett_utils')
import rospy
from brett_pr2.pr2 import PR2
from brett_utils.msg_utils import image2numpy
from brett_utils.shell_hax import rospack_find
import numpy as np
from time import sleep, time
import freenect
import sensor_msgs.msg as sm
from os.path import join
import cPickle
import cv2
rospy.init_node('record_calibration_images',disable_signals = True)
joints = np.loadtxt("calibration_joints.txt")
BRETT = PR2()
BRETT.rgrip.close(max_effort=-1)