#!/usr/bin/env python
import roslib
roslib.load_manifest('faa_data_save')
import rospy
import threading
import os
from faa_data_save.msg import SaveData
from faa_image_processing.msg import TrackingData
from faa_utilities import FileTools
from faa_status.msg import Status
file_tools = FileTools()
class TrackingSaver(object):
def __init__(self):
self.lock = threading.Lock()
self.saving = False
self.save_sub = rospy.Subscriber('/faa_data_save/save_data', SaveData, self.save_data_callback)
self.tracking_data_sub = rospy.Subscriber("/camera/tracking_data",TrackingData,self.tracking_data_callback)
self.status_sub = rospy.Subscriber("/faa_status/status", Status, self.status_callback)
self.tracking_data_fid = None
self.tracking_data_line = '{time_secs},{time_nsecs},{status},{tunnel},{enabled},{gate0},{gate1},{gate2},{fly_x},{fly_y},{fly_angle},{chamber},{blob_x},{blob_y},{blob_area},{blob_slope},{blob_ecc}\n'
self.status = ""
def save_data_callback(self,data):
import rospy
import rosbag
import cv2
import cv
import numpy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import argparse
import os
import subprocess
from faa_utilities import FindData
from faa_utilities import FileTools
FILE_TOOLS = FileTools()
DISPLAY_IMAGES = True
class FigureDataProcessor(object):
def __init__(self,overwrite=False):
self.bridge = CvBridge()
self.overwrite = overwrite
self.data_image_topic = "/camera/data_image"
self.fd = FindData(overwrite=overwrite)
self.figure = None
self.background = None
if DISPLAY_IMAGES:
cv2.namedWindow("Image FG")
cv2.namedWindow("Image Thresh")
cv2.namedWindow("Image Morphed")