def go_initialize_stimulus(stimulus_xml, optics, extra):
""" returns fsee.Observer.Observer """
try:
# stimulus_xml can be a filename
if stimulus_xml[0] == "/":
pass
else:
# otherwise it's a string
# pass it like a string
stimulus_xml = StringIO(stimulus_xml)
stim_xml = xml_stimulus.xml_stimulus_from_filename(stimulus_xml)
stim_xml_osg = xml_stimulus_osg.StimulusWithOSG(stim_xml.get_root())
with stim_xml_osg.OSG_model_path(extra=extra) as osg_model_path:
# sys.stderr.write('osg_model_path = \n %s' % open(osg_model_path).read())
hz = 60.0 # fps
vision = fsee.Observer.Observer(
model_path=osg_model_path,
# scale=1000.0, # from meters to mm
hz=hz,
skybox_basename=None,
full_spectrum=True,
optics=optics,
do_luminance_adaptation=False,
)
positive_answer({}, ("Model loaded, path = %s" % osg_model_path))
return vision
except IOError, ex:
exit_with_error("Could not load file %s: %s" % (stimulus_xml, ex))
def __init__(self, stim_xml_filename=None, num_points=5, scale_factor=0.01, ghost_length=20, resolution=4):
# initialize the viewer window
self.f = mlab.figure(size=(800, 600))
self.f.scene.anti_aliasing_frames = 1
visual.set_viewer(self.f)
################# moving fly objects ################
self.num_points = num_points
self.plot_objects = [
Object(ghost_length=ghost_length, scale_factor=scale_factor, resolution=resolution)
for i in range(self.num_points)
]
######################################################
self.objects = None
self.speed = np.zeros(self.num_points)
################### stimulus xml #####################
if stim_xml_filename is not None:
actors = []
stim_xml = xml_stimulus.xml_stimulus_from_filename(stim_xml_filename)
actors.extend(stim_xml.get_tvtk_actors())
for a in actors:
visual.show_actor(a)
######################################################
# ROS stuff
rospy.Subscriber("flydra_mainbrain_super_packets", flydra_mainbrain_super_packet, self.callback)
rospy.init_node("listener", anonymous=True)
# run the animation
self.animate()
def main():
# Generate OSG model from the XML file
stim_xml_filename = 'nopost.xml'
stim_xml = xml_stimulus.xml_stimulus_from_filename(stim_xml_filename)
stim_xml_osg = xml_stimulus_osg.StimulusWithOSG( stim_xml.get_root() )
# Simulation parameters
hz = 60.0 # fps
dt = 1.0/hz
# Use to generate pose and velocities
path_maker = PathMaker(vel_0=cgtypes.vec3(0.100,0,0),
pos_0=cgtypes.vec3(0.000,0.000,0.150))
with stim_xml_osg.OSG_model_path() as osg_model_path:
vision = fsee.Observer.Observer(model_path=osg_model_path,
# scale=1000.0, # from meters to mm
hz=hz,
skybox_basename=None,
full_spectrum=True,
optics='buchner71',
do_luminance_adaptation=False,
)
t = -dt
count = 0
y_old = None
cur_pos = None
cur_ori = None
while count < 1000:
t += dt
count += 1
cur_pos, cur_ori, vel, angular_vel = path_maker.step(t)
print cur_pos
vision.step(cur_pos,cur_ori)
R=vision.get_last_retinal_imageR()
G=vision.get_last_retinal_imageG()
B=vision.get_last_retinal_imageB()
y = (R+G+B)/3.0/255
if y_old != None:
ydot = (y - y_old) / dt
else:
y_old = y
# Get Q_dot and mu from body velocities
# WARNING: Getting Q_dot and mu can be very slow
qdot, mu = vision.get_last_retinal_velocities(vel, angular_vel)
def get_posts_info(xml):
from flydra.a2 import xml_stimulus #@UnresolvedImport
stimulus_xml = StringIO(xml)
stim_xml = xml_stimulus.xml_stimulus_from_filename(stimulus_xml)
root = stim_xml.get_root()
results = {'posts':[]}
for child in root:
if child.tag == 'cylindrical_post':
info = stim_xml._get_info_for_cylindrical_post(child)
results['posts'].append(info)
elif child.tag == 'cylindrical_arena':
results['arena'] = stim_xml._get_info_for_cylindrical_arena(child)
return results
