def viewer_main(modelfile=None, config='', zoom=False, server=False, response='pickle'): experiment = Experiment(zoom=zoom) if modelfile: experiment.execute('loadmodel %s' % modelfile) if not server: experiment.execute('loadconfig %s' % config) experiment.start() if server: receiver = Thread(target=receive, args=(experiment, response)) receiver.start() experiment.join()
def load_model(modelfile, cameras, fnumber): ex = Experiment() ex.execute('loadmodel %s' % modelfile) ex.execute('loadconfig') # situate cameras on a side of the laser for camera in cameras: if ex.model[camera[0]].pose.T.y < \ ex.model[ex.model.active_laser].pose.T.y: ex.model[camera[0]].negative_side = True else: ex.model[camera[0]].negative_side = False # disable unspecified cameras for camera in ex.model.cameras: if not camera in [c[0] for c in cameras]: ex.model[camera].active = False # load lens lookup tables lut = [] for camera in cameras: lut.append(LensLUT(camera[1], fnumber)) return ex, lut
from adolphus.interface import Experiment ex = Experiment(zoom=False) ex.execute('loadmodel %s' % 'scene.yaml') ex.execute('loadconfig %s' % '') ex.start()
dest='threshold', type=float, default=0.0, help='hysteresis threshold') parser.add_argument('pathfile', help='path waypoint file') args = parser.parse_args() # Load path waypoints. print('Loading path waypoints...') points = [] with open(args.pathfile, 'r') as pf: for line in pf.readlines(): points.append(Point(*[float(s) for s in line.rstrip().split(',')])) path = interpolate_points(points) # Set up displays and load the model. print('Loading model...') ex = Experiment(zoom=True) ex.add_display() ex.display.autoscale = True ex.display.userspin = False ex.display.forward = (0, 0, -1) ex.display.up = (0, 1, 0) ex.execute('loadmodel follow.yaml') ex.execute('loadconfig') # Compute the vision graph. if os.path.exists('vgraph.pickle'): print('Loading vision graph...') vision_graph = pickle.load(open('vgraph.pickle', 'r')) else: try: print('Computing vision graph...') vision_graph = ex.model.coverage_hypergraph(ex.tasks['scene'], K=2)