def process_and_publish(self):
# TODO add check timestamps for dropped frames
H, W, _ = self.data[0]['rgb'].shape
n = len(self.data)
dtype = [
('timestamp', 'float'),
('rgb', 'uint8', (H, W, 3)),
]
images = np.zeros((n, ), dtype=dtype)
for i, v in enumerate(self.data):
images[i]['timestamp'] = v['timestamp']
images[i]['rgb'][:] = v['rgb']
det = LEDDetector(False, False, False, self.pub_debug)
rgb0 = self.data[0]['rgb']
#mask = np.ones(dtype='bool', shape=rgb0.shape)
tic = time.time()
result = det.detect_led(images, self.frequencies, self.cell_size,
self.crop_rect_normalized)
self.pub_detections.publish(result)
toc = time.time() - tic
tac = time.time() - self.tinit
rospy.loginfo('[%s] Detection done. Processing Time: %.2f' %
(self.node_name, toc))
print('[%s] Total Time taken: %.2f' % (self.node_name, tac))
if (self.continuous):
self.trigger = True
self.sub_cam = rospy.Subscriber("camera_node/image/compressed",
CompressedImage,
self.camera_callback)
def process_and_publish(self):
# TODO add check timestamps for dropped frames
H, W, _ = self.data[0]['rgb'].shape
n = len(self.data)
dtype = [
('timestamp', 'float'),
('rgb', 'uint8', (H, W, 3)),
]
images = np.zeros((n,), dtype=dtype)
for i, v in enumerate(self.data):
images[i]['timestamp'] = v['timestamp']
images[i]['rgb'][:] = v['rgb']
det = LEDDetector(False, False, False, self.pub_debug)
rgb0 = self.data[0]['rgb']
#mask = np.ones(dtype='bool', shape=rgb0.shape)
tic = time.time()
result = det.detect_led(images, self.frequencies, self.cell_size, self.crop_rect_normalized)
self.pub_detections.publish(result)
toc = time.time()-tic
tac = time.time()-self.tinit
rospy.loginfo('[%s] Detection done. Processing Time: %.2f'%(self.node_name, toc))
print('[%s] Total Time taken: %.2f'%(self.node_name, tac))
if(self.continuous):
self.trigger = True
self.sub_cam = rospy.Subscriber("camera_node/image/compressed",CompressedImage, self.camera_callback)
def main():
script_name = os.path.basename(sys.argv[0])
args = sys.argv[1:]
if len(args) != 2:
msg = 'I need two arguments. Please see README.md for documentation.'
logger.error(msg)
sys.exit(2)
which_tests0 = sys.argv[1]
which_estimators0 = sys.argv[2]
package_dir = get_ros_package_path('led_detection')
logger.debug('Package dir: %r' % package_dir)
# dirname = 'catkin_ws/src/f23-LED/led_detection/scripts/'
#filename = 'all_tests.yaml'
filename = os.path.join(package_dir, 'scripts', 'dp45_tests.yaml')
alltests = load_tests(filename)
estimators = {
'baseline':
LEDDetector(ploteverything=False, verbose=True, plotfinal=False),
'LEDDetector_plots':
LEDDetector(True, True, True)
}
#,'LEDDetector_forloops' : LEDDetector_forloops(True, True, True)}
which_tests = expand_string(which_tests0, list(alltests))
which_estimators = expand_string(which_estimators0, list(estimators))
logger.info(' tests: %r |-> %s' % (which_tests0, which_tests))
logger.info('estimators: %r |-> %s' %
(which_estimators0, which_estimators))
# which tests to execute
test_results = {}
for id_test in which_tests:
for id_estimator in which_estimators:
result = run_test(id_test, alltests[id_test], id_estimator,
estimators[id_estimator])
test_results[(id_test, id_estimator)] = result
nfailed = list(test_results.values()).count(False)
if not nfailed:
logger.info('All tests passed')
else:
which = [k for k, v in test_results.items() if not v]
logger.error('These tests failed: %s ' % which)
sys.exit(3)
def main():
script_name = os.path.basename(sys.argv[0])
args = sys.argv[1:]
if len(args) != 2:
msg = "I need two arguments. Please see README.md for documentation."
dtu.logger.error(msg)
sys.exit(2)
which_tests0 = sys.argv[1]
which_estimators0 = sys.argv[2]
package_dir = get_ros_package_path("led_detection")
dtu.logger.debug(f"Package dir: {package_dir!r}")
# dirname = 'catkin_ws/src/f23-LED/led_detection/scripts/'
# filename = 'all_tests.yaml'
filename = os.path.join(package_dir, "scripts", "dp45_tests.yaml")
alltests = load_tests(filename)
estimators = {
"baseline":
LEDDetector(ploteverything=False, verbose=True, plotfinal=False),
"LEDDetector_plots":
LEDDetector(True, True, True),
}
# ,'LEDDetector_forloops' : LEDDetector_forloops(True, True, True)}
which_tests = dtu.expand_string(which_tests0, list(alltests))
which_estimators = dtu.expand_string(which_estimators0, list(estimators))
logger.info(f" tests: {which_tests0!r} |-> {which_tests}")
logger.info(f"estimators: {which_estimators0!r} |-> {which_estimators}")
# which tests to execute
test_results = {}
for id_test in which_tests:
for id_estimator in which_estimators:
result = run_test(id_test, alltests[id_test], id_estimator,
estimators[id_estimator])
test_results[(id_test, id_estimator)] = result
nfailed = list(test_results.values()).count(False)
if not nfailed:
logger.info("All tests passed")
else:
which = [k for k, v in list(test_results.items()) if not v]
logger.error(f"These tests failed: {which} ")
sys.exit(3)
def process_and_publish(self):
# TODO add check timestamps for dropped frames
H, W, _ = self.data[0]['rgb'].shape
n = len(self.data)
dtype = [
('timestamp', 'float'),
('rgb', 'uint8', (H, W, 3)),
]
images = np.zeros((n,), dtype=dtype)
for i, v in enumerate(self.data):
images[i]['timestamp'] = v['timestamp']
images[i]['rgb'][:] = v['rgb']
det = LEDDetector(False, False, False, self.pub_debug)
rgb0 = self.data[0]['rgb']
mask = np.ones(dtype='bool', shape=rgb0.shape)
tic = time.time()
result = det.detect_led(images, mask, [2.8, 4.1, 5.0], 5)
self.pub_detections.publish(result)
toc = time.time()-tic
tac = time.time()-self.tinit
print('Done. Processing Time: %.2f'%toc)
print('Total Time taken: %.2f'%tac)
def process_and_publish(self):
# TODO add check timestamps for dropped frames
H, W, _ = self.data[0]['rgb'].shape
n = len(self.data)
dtype = [
('timestamp', 'float'),
('rgb', 'uint8', (H, W, 3)),
]
images = np.zeros((n, ), dtype=dtype)
for i, v in enumerate(self.data):
images[i]['timestamp'] = v['timestamp']
images[i]['rgb'][:] = v['rgb']
det = LEDDetector(False, False, False, self.pub_debug)
rgb0 = self.data[0]['rgb']
mask = np.ones(dtype='bool', shape=rgb0.shape)
tic = time.time()
result = det.detect_led(images, mask, [2.8, 4.1, 5.0], 5)
self.pub_detections.publish(result)
toc = time.time() - tic
tac = time.time() - self.tinit
print('Done. Processing Time: %.2f' % toc)
print('Total Time taken: %.2f' % tac)
def main():
script_name = os.path.basename(sys.argv[0])
args = sys.argv[1:]
if len(args) != 2:
msg = """
Usage:
rosrun led_detection <script> <tests> <algorithms>
where:
<tests> = comma separated list of algorithms. May use "*".
<algorithms> = comma separated list of algorithms. May use "*".
For example, this runs all tests on all algorithms:
rosrun led_detection <script> '*' '*'
The default algorithm is called "baseline", and the tests are invoked using:
rosrun led_detection <script> '*' 'baseline'
"""
msg = msg.replace('<script>', script_name)
logger.error(msg)
sys.exit(2)
which_tests0 = sys.argv[1]
which_estimators0 = sys.argv[2]
root = os.environ['DUCKIETOWN_ROOT']
dirname = 'catkin_ws/src/f23-LED/led_detection/scripts/'
#filename = 'all_tests.yaml'
filename = 'dp45_tests.yaml'
filename = os.path.join(root, dirname, filename)
alltests = load_tests(filename)
estimators = {
'baseline':
LEDDetector(ploteverything=False, verbose=True, plotfinal=False),
'LEDDetector_plots':
LEDDetector(True, True, True)
}
#,'LEDDetector_forloops' : LEDDetector_forloops(True, True, True)}
which_tests = expand_string(which_tests0, list(alltests))
which_estimators = expand_string(which_estimators0, list(estimators))
logger.info(' tests: %r |-> %s' % (which_tests0, which_tests))
logger.info('estimators: %r |-> %s' %
(which_estimators0, which_estimators))
# which tests to execute
test_results = {}
for id_test in which_tests:
for id_estimator in which_estimators:
result = run_test(id_test, alltests[id_test], id_estimator,
estimators[id_estimator])
test_results[(id_test, id_estimator)] = result
nfailed = list(test_results.values()).count(False)
if not nfailed:
logger.info('All tests passed')
else:
which = [k for k, v in test_results.items() if not v]
logger.error('These tests failed: %s ' % which)
sys.exit(3)