def create_hmm(qsr_seq, filename):
r = ROSClient()
q, d = r.call_service(
HMMRepRequestCreate(
qsr_seq=qsr_seq,
qsr_type="qtch"
)
)
with open(filename+".hmm", 'w') as f: f.write(d)
def __init__(self, name):
self.isDebug = False
rospy.loginfo("Starting %s ..." % name)
self.client = ROSClient()
qmc = QTCModelCreation()
obs = qmc.create_observation_model(qtc_type=qmc.qtc_types.qtch, start_end=True)
self.lookup = qmc.create_states(qtc_type=qmc.qtc_types.qtch, start_end=True)
hmc = HMMModelCreation()
m = PfModel()
for f in os.listdir(rospy.get_param("~model_dir")):
filename = rospy.get_param("~model_dir") + '/' + f
if f.endswith(".hmm"):
rospy.loginfo("Creating prediction model from: %s", filename)
pred = hmc.create_prediction_model(input=filename)
m.add_model(f.split('.')[0], pred, obs)
elif f.endswith(".rules"):
with open(filename) as fd:
rospy.loginfo("Reading rules from: %s", filename)
# Necessary due to old rule format:
self.rules[f.split('.')[0]] = self._create_proper_qtc_keys(json.load(fd))
self.model = m.get()
visualisation = rospy.get_param("~visualisation")
self.visualisation_colors = visualisation['models']
self.default_color = ColorRGBA(
a=1.0,
r=visualisation['default']['r']/255.,
g=visualisation['default']['g']/255.,
b=visualisation['default']['b']/255.
)
self.pub = rospy.Publisher("~prediction_array", QTCPredictionArray, queue_size=10)
self.markpub = rospy.Publisher("~marker_array", MarkerArray, queue_size=10)
rospy.Subscriber(rospy.get_param("~qtc_topic", "/online_qtc_creator/qtc_array"), QTCArray, self.callback, queue_size=1)
rospy.Subscriber(rospy.get_param("~ppl_topic", "/people_tracker/positions"), PeopleTracker, self.people_callback, queue_size=1)
rospy.loginfo("... all done")
sample_parse.add_argument('-l', '--max_length', help="the maximum length of samples which will be ensure if at all possible", type=str, required=True)
sample_parse.add_argument('--lookup', help="the lookup table json file", type=str, default="")
subparsers.add_parser('sample', parents=[general, sample_parse, qtc_parse])
# Parsers for loglikelihood function
log_parse = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter,add_help=False)
log_parse.add_argument('-i', '--input', help="the xml file containing the HMM", type=str, required=True)
log_parse.add_argument('-q', '--qsr_seq', help="reads a file containing state chains", type=str, required=True)
log_parse.add_argument('--lookup', help="the lookup table json file", type=str, default="")
subparsers.add_parser('loglikelihood', parents=[general, log_parse, qtc_parse])
# Parse arguments
args = parser.parse_args()
rospy.init_node("ros_client")
r = ROSClient()
if args.action == "create":
qsr_seq = load_files(args.input)
d = r.call_service(
HMMRepRequestCreate(
qsr_seq=qsr_seq,
qsr_type=args.qsr_type,
pseudo_transitions=args.pseudo_transitions,
lookup_table=load_json_file(args.lookup) if args.lookup != "" else None,
transition_matrix=load_json_file(args.trans) if args.trans != "" else None,
emission_matrix=load_json_file(args.emi) if args.emi != "" else None,
start_at_zero=args.start_at_zero
)
)
with open(args.output, 'w') as f: json.dump(d, f)
def __init__(self, *args):
super(TestHMM, self).__init__(*args)
rospy.init_node(NAME)
self.r = ROSClient()
def __init__(self, *args):
super(self.__class__, self).__init__(*args)
rospy.init_node(NAME)
self.r = ROSClient()
