def initialize_publsr_topics(self):
# Initialize all the publisher topics
self.pnt_cld_dvc_publr_obj = ecal.publisher(
json_data['pointcloud_device_response'])
self.pnt_cld_data_publr_obj = ecal.publisher(
json_data['pointcloud_data_response'])
self.pnt_cld_ready_obj = ecal.publisher(
json_data['pointcloud_begin_response'])
def publ_multiple_signal_names():
print "Publish bsig signal names......."
ecal.initialize(sys.argv, "Python Signal name publisher")
BSIG_INFO_OBJ = Radar_pb2.BsigDataRequest()
publisher_roi_obj = ecal.publisher(topic_name="BsigSignalNames")
# sig_name = "SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Longitudinal.MotVar.Velocity"
sig_name_lst = ['SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Longitudinal.MotVar.Velocity',
'MTS.Package.TimeStamp',
'SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Longitudinal.MotVar.Accel',
'SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Lateral.YawRate.YawRate',
'SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Lateral.SlipAngle.SideSlipAngle',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Kinematic.fDistX',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Kinematic.fDistY',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Kinematic.fVrelX',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Legacy.uiLifeTime',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Attributes.eDynamicProperty',
'SIM VFB ALL.AlgoSenCycle.gSI_OOI_LIST.SI_OOI_LIST[%].object_id',
'SIM VFB ALL.AlgoSenCycle.gSI_OOI_LIST.SI_OOI_LIST[%].long_displacement',
'SIM VFB ALL.AlgoSenCycle.gSI_OOI_LIST.SI_OOI_LIST[%].lat_displacement_to_curvature']
BSIG_INFO_OBJ.bsigPath = bsig_path
BSIG_INFO_OBJ.objectIdCount = 100
# BSIG_INFO_OBJ.timestamp = 1465391170943194
BSIG_INFO_OBJ.timestamp = 8308331816
for sig_name in sig_name_lst:
BSIG_INFO_OBJ.signalNames.append(sig_name)
# while ecal.ok():
# print("BSIG_INFO_OBJ.SerializeToString() :: ", BSIG_INFO_OBJ.SerializeToString())
time.sleep(1)
publisher_roi_obj.send(BSIG_INFO_OBJ.SerializeToString())
def __init__(self):
# Subscribe to the eCAL message to get the bsig path and the
# signal names
# self.bsig_path = bsig_pth
#
ecal.initialize(sys.argv, "Python signal value publisher")
# Subscribe to RadarSignalRequest topic
self.bsig_subscr_obj = ecal.subscriber(topic_name="BsigSignalNames")
self.bsig_pub_obj = ecal.publisher(topic_name="BsigSignalValues")
self.bsig_tmstamp_lst = []
self.sig_name_lst = []
self.subscribe_ecal_msgs()
def publ_signal_names():
print("Publish tracking data......")
ecal.initialize(sys.argv, "Tracker data")
publisher_roi_obj = ecal.publisher(topic_name="SR_Request")
label_req_obj = AlgoInterface_pb2.LabelRequest()
# image_path = r'D:\Work\2018\code\Tensorflow_code\Tracker\DLBasedSmartAnnotation\data\BlurCar2\img\0001.jpg'
image_path = r'D:\Work\2018\code\Tensorflow_code\Tracker\DLBasedSmartAnnotation\data\LT52\img\0001.jpeg'
# read the image
# img = cv2.imread(image_path, cv2.IMREAD_COLOR)
img = cv2.imread(image_path, cv2.IMREAD_COLOR)
img_encoded = cv2.imencode('.png', img)[1].tostring()
# print("img_encoded ::", img)
img_str = img_encoded
# Read its respective coordinates
gt_boxes_path = r'D:\Work\2018\code\Tensorflow_code\Tracker\DLBasedSmartAnnotation\data\BlurCar2\groundtruth_rect.txt'
image_nmber_idx = 1 - 1
with open(gt_boxes_path, 'r') as f:
lines = f.readlines()
line = lines[image_nmber_idx]
img_trackid_lst = [2]
x, y, w, h = [int(x) for x in line.split()]
# 227 207 122 99
# print("ordinate:", x, y, w, h)
# (xmin, ymin, xmax, ymax) = (227, 207, 349, 306)
# (xmin, ymin, xmax, ymax) = (227, 204, 349, 306)
(xmin, ymin, xmax, ymax) = (622, 180, 660, 335)
# xmin = 227
# ymin = 207
# xmax = 349
# ymax = 306
print("ordinate::", xmin, ymin, xmax, ymax)
label_req_obj.NextImg.imageData = img_str
for evy_img_trkid in img_trackid_lst:
# Assign the trackid here
attrib_typ_obj = label_req_obj.CurrentAttr.add()
attrib_typ_obj.trackID = evy_img_trkid
attrib_typ_obj.trackername = "ADNet"
# Loop in to send across the coordinates
roi_min_obj = attrib_typ_obj.ROI.add()
roi_min_obj.X = xmin
roi_min_obj.Y = ymin
roi_max_obj = attrib_typ_obj.ROI.add()
roi_max_obj.X = xmax
roi_max_obj.Y = ymax
time.sleep(1)
publisher_roi_obj.send(label_req_obj.SerializeToString())
def publ_signal_names():
print "Publish bsig signal names......."
ecal.initialize(sys.argv, "Python Signal name publisher")
BSIG_INFO_OBJ = Radar_pb2.BsigDataRequest()
publisher_roi_obj = ecal.publisher(topic_name="BsigSignalNames")
sig_name_lst = ['MTS.Package.TimeStamp']
BSIG_INFO_OBJ.bsigPath = bsig_path
BSIG_INFO_OBJ.objectIdCount = 40
BSIG_INFO_OBJ.timestamp = -1
for sig_name in sig_name_lst:
BSIG_INFO_OBJ.signalNames.append(sig_name)
# while ecal.ok():
# print("BSIG_INFO_OBJ.SerializeToString() :: ", BSIG_INFO_OBJ.SerializeToString())
time.sleep(1)
publisher_roi_obj.send(BSIG_INFO_OBJ.SerializeToString())
def publ_signal_names():
print "Publish bsig signal names......."
ecal.initialize(sys.argv, "Python Signal name publisher")
BSIG_INFO_OBJ = Radar_pb2.BsigDataRequest()
publisher_roi_obj = ecal.publisher(topic_name="BsigSignalNames")
bsig_path = r"D:\Work\2018\code\LT5G\OLT\Radar_labelling_bsig\bsig_readers\Continuous_2014.05.15_at_08.48.40.bsig"
# bsig_path = r"D:\Work\2018\code\LT5G\OLT\Radar_labelling_bsig\bsig_readers\20160608_1306_{4556C7A6-7F27-4A91-923E-4392C9785675}.bsig"
# sig_name = "SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Longitudinal.MotVar.Velocity"
sig_name_lst = [
'SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Longitudinal.MotVar.Velocity',
'MTS.Package.TimeStamp',
'SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Longitudinal.MotVar.Accel',
'SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Lateral.YawRate.YawRate',
'SIM VFB ALL.DataProcCycle.ObjSyncEgoDynamic.Lateral.SlipAngle.SideSlipAngle',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Kinematic.fDistX',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Kinematic.fDistY',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Kinematic.fVrelX',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Legacy.uiLifeTime',
'SIM VFB ALL.DataProcCycle.EMPublicObjData.Objects[%].Attributes.eDynamicProperty',
'SIM VFB ALL.AlgoSenCycle.gSI_OOI_LIST.SI_OOI_LIST[%].object_id',
'SIM VFB ALL.AlgoSenCycle.gSI_OOI_LIST.SI_OOI_LIST[%].long_displacement',
'SIM VFB ALL.AlgoSenCycle.gSI_OOI_LIST.SI_OOI_LIST[%].lat_displacement_to_curvature'
]
# sig_name_lst = ['MTS.Package.TimeStamp'
# ]
BSIG_INFO_OBJ.bsigPath = bsig_path
BSIG_INFO_OBJ.objectIdCount = 40
for sig_name in sig_name_lst:
BSIG_INFO_OBJ.signalNames.append(sig_name)
# while ecal.ok():
# print("BSIG_INFO_OBJ.SerializeToString() :: ", BSIG_INFO_OBJ.SerializeToString())
time.sleep(1)
publisher_roi_obj.send(BSIG_INFO_OBJ.SerializeToString())
def publ_coord_multiple_obj():
print("Publish tracking data......")
ecal.initialize(sys.argv, "Tracker data")
publisher_roi_obj = ecal.publisher(topic_name="SR_Request")
label_req_obj = algointerface_pb2.LabelRequest()
image_path = r'D:\Work\2018\code\LT5G\ticket_folders\Images\MFC4xxLongImageRight_7674957039.jpeg'
img = cv2.imread(image_path, cv2.IMREAD_COLOR)
img_encoded = cv2.imencode('.png', img)[1].tostring()
# print("img_encoded ::", img)
img_str = img_encoded
img_trackid_lst = [2, 3]
coordinate_tpl_lst = [(622, 180, 660, 335), (227, 204, 349, 306)]
# (xmin, ymin, xmax, ymax) = (622, 180, 660, 335)
# print("ordinate::", xmin, ymin, xmax, ymax)
chnl_obj = label_req_obj.channelobject.add()
chnl_obj.channelName = 'LongImage'
tmstamp_obj = chnl_obj.timestampobject.add()
tmstamp_obj.timestamp = 54376457
tmstamp_obj.NextImg.imageData = img_str
for idx, evy_img_trkid in enumerate(img_trackid_lst):
attrib_typ_obj = tmstamp_obj.CurrentAttr.add()
attrib_typ_obj.trackID = evy_img_trkid
attrib_typ_obj.trackername = "Re3"
attrib_typ_obj.hasUserCorrected = 1
# Loop in to send across the coordinates
roi_min_obj = attrib_typ_obj.ROI.add()
roi_min_obj.X = coordinate_tpl_lst[idx][0]
roi_min_obj.Y = coordinate_tpl_lst[idx][1]
roi_max_obj = attrib_typ_obj.ROI.add()
roi_max_obj.X = coordinate_tpl_lst[idx][2]
roi_max_obj.Y = coordinate_tpl_lst[idx][3]
time.sleep(1)
publisher_roi_obj.send(label_req_obj.SerializeToString())
import ecal
import AlgoInterface_pb2
import imageservice_pb2
import sys
ecal.initialize(sys.argv, "HFL data requestor")
hfl_publ_obj = ecal.publisher("Request_Image")
import time
time.sleep(2)
hfl_req_proto_obj = imageservice_pb2.ImageRequest()
def request_hfl_data():
# while ecal.ok():
# hfl_req_proto_obj.required_timestamp = 1504816617728550
hfl_req_proto_obj.image_index = 8 #1504816617788522
# hfl_req_proto_obj.hfl_file_name = "D:\\Work\\2018\\code\\LT5G\\HDF5_reader\\2017.09.07_at_20.37.57_camera-mi_1449.h5"
hfl_publ_obj.send(hfl_req_proto_obj.SerializeToString())
ecal.finalize()
request_hfl_data()
def initialize_publsr_topics(self):
# Initialize all the publisher topics
self.h5_chnl_publr_obj = ecal.publisher(json_data['channel_response'])
self.h5_img_publr_obj = ecal.publisher(json_data['hfl_response'])
import cv2
if getattr(sys, 'frozen', False):
os.chdir(sys._MEIPASS)
with open('topics.json') as data_file:
json_data = json.load(data_file)
# print(json_data)
request = str(json_data['request'])
response = str(json_data['response'])
h5_filename = str(json_data['h5_filename'])
ecal.initialize(sys.argv, "HFL data publisher")
hfl_subscr_obj = ecal.subscriber(request)
hfl_publs_obj = ecal.publisher(topic_name=response)
hfl_req_proto_obj = imageservice_pb2.ImageRequest()
hfl_resp_proto_obj = imageservice_pb2.HFLResponse()
class H5ReaderSequence(object):
def __init__(self, fname):
self.reset(fname)
self.lastLoadFilename = ""
def reset(self, fname):
if not os.path.isfile(fname):
print("Error - H5 file not available: %s!" % fname)
sys.exit()
# self.data = h5py.File(fname, "r")
import ecal
import imageservice_pb2
import sys
import time
ecal.initialize(sys.argv, "HFL data requestor")
# ecal.initialize(sys.argv, "H5 data publisher")
# hfl_publ_obj = ecal.publisher("Request_Device")
# hfl_publ_obj = ecal.publisher("Request_Channel")
hfl_publ_obj = ecal.publisher("Request_HFL")
time.sleep(2)
hfl_req_proto_obj = imageservice_pb2.ImageRequest()
# hfl_dvc_proto_obj = imageservice_pb2.deviceTypeRequest()
hfl_chnl_proto_obj = imageservice_pb2.devicesDataRequest()
# def request_device_typ():
# hfl_dvc_proto_obj.device_type = "dfhxzfxgjhgcj"
# # time.sleep(2)
#
# hfl_publ_obj.send(hfl_dvc_proto_obj.SerializeToString())
# print "hfl_req_proto_obj.SerializeToString() :: ", hfl_dvc_proto_obj.SerializeToString()
#
# ecal.finalize()
def req_channel_type():
hfl_chnl_proto_obj.required_devicesData = True
payload = hfl_chnl_proto_obj.SerializeToString()
# print "payload :: ", payload
hfl_publ_obj.send(payload)
def initialize_publsr_topics(self):
# Initialize all the publisher topics
# self.lt5_track_publr_obj = ecal.publisher(self.json_data['image_response'])
self.lt5_track_publr_obj = ecal.publisher(self.tracker_response)
self.lt5_algo_publr_obj = ecal.publisher(self.json_data['algo_begin_response'])
import ecal
import imageservice_pb2
import AlgoInterface_pb2
import sys
import time
ecal.initialize(sys.argv, "HFL data requestor")
# ecal.initialize(sys.argv, "H5 data publisher")
# hfl_publ_obj = ecal.publisher("Request_Device")
# hfl_publ_obj = ecal.publisher("Request_Channel")
hfl_publ_obj = ecal.publisher("Finalize")
time.sleep(2)
hfl_req_proto_obj = imageservice_pb2.ImageRequest()
# hfl_dvc_proto_obj = imageservice_pb2.deviceTypeRequest()
hfl_chnl_proto_obj = AlgoInterface_pb2.AlgoState()
# def request_device_typ():
# hfl_dvc_proto_obj.device_type = "dfhxzfxgjhgcj"
# # time.sleep(2)
#
# hfl_publ_obj.send(hfl_dvc_proto_obj.SerializeToString())
# print "hfl_req_proto_obj.SerializeToString() :: ", hfl_dvc_proto_obj.SerializeToString()
#
# ecal.finalize()
def req_channel_type():
hfl_chnl_proto_obj.required_devicesData = True
payload = hfl_chnl_proto_obj.SerializeToString()
# print "payload :: ", payload
import ecal
import common_pb2
import sys
import time
ecal.initialize(sys.argv, "Point Cloud data requestor")
tmstamp_publ_obj = ecal.publisher("PointCloud_Device_Request")
pcl_publ_obj = ecal.publisher("PointCloud_Data_Request")
pcl_finalize_obj = ecal.publisher("Finalize")
time.sleep(2)
def req_timestamp():
dvc_data_proto_obj = common_pb2.DevicesDataRequest()
dvc_data_proto_obj.requiredDevicesData = True
payload = dvc_data_proto_obj.SerializeToString()
# print "payload :: ", payload
tmstamp_publ_obj.send(payload)
ecal.finalize()
def req_pcl_points():
pcl_data_proto_obj = common_pb2.DataRequest()
pcl_data_proto_obj.requiredTimestamp = 1521225338975243 #1521225351544589
pcl_data_proto_obj.requestDeviceName = "HFL"
pcl_data_proto_obj.requestChannelName = "Valodyne"
pcl_data_proto_obj.uniqueId = 1
payload = pcl_data_proto_obj.SerializeToString()
# print "payload :: ", payload
pcl_publ_obj.send(payload)
def publ_coord_single_obj():
print("Publish tracking data......")
ecal.initialize(sys.argv, "Tracker data")
publisher_roi_obj = ecal.publisher(topic_name="SR_Request")
label_req_obj = algointerface_pb2.LabelRequest()
image_path = r'D:\Work\2018\code\LT5G\ticket_folders\Images\MFC4xxLongImageRight_7674957039.jpeg'
# image_path = r'0001.jpeg'
# read the image
# img = cv2.imread(image_path, cv2.IMREAD_COLOR)
img = cv2.imread(image_path, cv2.IMREAD_COLOR)
img_encoded = cv2.imencode('.png', img)[1].tostring()
# print("img_encoded ::", img)
img_str = img_encoded
# Read its respective coordinates
# gt_boxes_path = r'D:\Work\2018\code\Tensorflow_code\Tracker\DLBasedSmartAnnotation\data\BlurCar2\groundtruth_rect.txt'
image_nmber_idx = 1 - 1
# with open(gt_boxes_path, 'r') as f:
# lines = f.readlines()
# line = lines[image_nmber_idx]
img_trackid_lst = [2]
# x, y, w, h = [int(x) for x in line.split()]
# 227 207 122 99
# print("ordinate:", x, y, w, h)
# (xmin, ymin, xmax, ymax) = (227, 207, 349, 306)
# (xmin, ymin, xmax, ymax) = (227, 204, 349, 306)
(xmin, ymin, xmax, ymax) = (622, 180, 660, 335)
# xmin = 227
# ymin = 207
# xmax = 349
# ymax = 306
print("ordinate::", xmin, ymin, xmax, ymax)
# label_req_obj.NextImg.imageData = img_str
# for evy_img_trkid in img_trackid_lst:
# # Assign the trackid here
# attrib_typ_obj = label_req_obj.CurrentAttr.add()
# attrib_typ_obj.trackID = evy_img_trkid
# attrib_typ_obj.trackername = "ADNet"
# # Loop in to send across the coordinates
# roi_min_obj = attrib_typ_obj.ROI.add()
# roi_min_obj.X = xmin
# roi_min_obj.Y = ymin
# roi_max_obj = attrib_typ_obj.ROI.add()
# roi_max_obj.X = xmax
# roi_max_obj.Y = ymax
chnl_obj = label_req_obj.channelobject.add()
chnl_obj.channelName = 'LongImage'
tmstamp_obj = chnl_obj.timestampobject.add()
tmstamp_obj.timestamp = 54376457
tmstamp_obj.NextImg.imageData = img_str
for evy_img_trkid in img_trackid_lst:
attrib_typ_obj = tmstamp_obj.CurrentAttr.add()
attrib_typ_obj.trackID = evy_img_trkid
attrib_typ_obj.trackername = "Re3"
attrib_typ_obj.hasUserCorrected = 1
# Loop in to send across the coordinates
roi_min_obj = attrib_typ_obj.ROI.add()
roi_min_obj.X = xmin
roi_min_obj.Y = ymin
roi_max_obj = attrib_typ_obj.ROI.add()
roi_max_obj.X = xmax
roi_max_obj.Y = ymax
time.sleep(1)
publisher_roi_obj.send(label_req_obj.SerializeToString())
with open(TOPICS_JSON) as data_file:
json_data = json.load(data_file)
# print(json_data)
request = str(json_data['image_request'])
response = str(json_data['image_response'])
vis_flag = True if str(json_data['visualization']) == "True" else False
full_eff_flag = True if str(json_data['full_efficiency']) == "True" else False
ecal.initialize(sys.argv, "Mask RCNN MS COCO detector")
ld_req_obj = imageservice_pb2.ImageResponse()
subscriber_obj = ecal.subscriber(topic_name=request)
lbl_response_obj = AlgoInterface_pb2.LabelResponse()
publisher_roi_obj = ecal.publisher(topic_name=response)
class InferenceConfig(coco.CocoConfig):
# Set batch size to 1 since we'll be running inference on
# one image at a time. Batch size = GPU_COUNT * IMAGES_PER_GPU
GPU_COUNT = 1
IMAGES_PER_GPU = 1
if not full_eff_flag:
IMAGE_MIN_DIM = 512
IMAGE_MAX_DIM = 512
config = InferenceConfig()
# config.print()
