def main(argv):
"""
Main node
"""
node = cyber.Node("rtk_recorder")
argv = FLAGS(argv)
log_dir = "/apollo/data/log"
if len(argv) > 1:
log_dir = argv[1]
if not os.path.exists(log_dir):
os.makedirs(log_dir)
Logger.config(log_file=log_dir + "rtk_recorder.log",
use_stdout=True,
log_level=logging.DEBUG)
print("runtime log is in %s%s" % (log_dir, "rtk_recorder.log"))
record_file = log_dir + "/garage.csv"
recorder = RtkRecord(record_file)
atexit.register(recorder.shutdown)
node.create_reader('/apollo/canbus/chassis', chassis_pb2.Chassis,
recorder.chassis_callback)
node.create_reader('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
recorder.localization_callback)
while not cyber.is_shutdown():
time.sleep(0.002)
def main(argv):
"""
Main rosnode
"""
rospy.init_node('rtk_recorder', anonymous=True)
argv = FLAGS(argv)
log_dir = os.path.dirname(
os.path.abspath(__file__)) + "/../../../data/log/"
if not os.path.exists(log_dir):
os.makedirs(log_dir)
Logger.config(log_file=log_dir + "rtk_recorder.log",
use_stdout=True,
log_level=logging.DEBUG)
print("runtime log is in %s%s" % (log_dir, "rtk_recorder.log"))
record_file = log_dir + "/garage.csv"
recorder = RtkRecord(record_file)
atexit.register(recorder.shutdown)
rospy.Subscriber('/apollo/canbus/chassis', chassis_pb2.Chassis,
recorder.chassis_callback)
rospy.Subscriber('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
recorder.localization_callback)
rospy.spin()
def main(argv):
try:
# parse flags
argv = FLAGS(argv)
except gflags.FlagsError as e:
print('%s\\nUsage: %s ARGS\\n%s' % (e, sys.argv[0], FLAGS))
sys.exit(1)
if FLAGS.debug:
print('non-flag arguments:', argv)
# retrieve all the files to be processed
all_files = find_files(FLAGS.inpath)
# define pandas dataframe
df = pd.DataFrame(columns=('patientID', 'xrayDateTime', 'gender', 'path'))
pbar = progressbar.ProgressBar(maxval=len(all_files))
pbar.start()
for i, name in enumerate(all_files):
# run image processing
new_image, all_images = cxv.run_system(name, FLAGS.clean)
write_name = name.replace(FLAGS.inpath, FLAGS.outpath)
split_name = write_name.rsplit('/', 1)[0]
if not os.path.exists(split_name):
os.makedirs(split_name)
io.imsave(write_name, new_image)
# run OCR for hash
patient_id, xray_datetime, gender = get_patient_info(all_images)
df.loc[i] = [patient_id, xray_datetime, gender, write_name]
# update progress bar
pbar.update(i)
pbar.finish()
df.to_csv(FLAGS.outpath + '/labelled_info.csv')
def get_flags_help():
"""Generates a help string for all known flags."""
help_items = []
# We don't use gflags own str(FLAGS) because we need some more control:
# - we don't want gflags own SPECIAL flags (e.g. --undefok)
# - we don't want a breakdown per module
# pylint: disable=W0212
FLAGS._FlagValues__RenderFlagList(FLAGS.FlagDict().values(), help_items)
def cleanup(help):
"Removes the confusing --no prefix from boolean flags"
if help.startswith(' --[no]'):
return ' --' + help[8:]
else:
return help
return '\n'.join([cleanup(help) for help in help_items])
def main(argv):
FLAGS(argv)
print(["Not treating", "Treating"][FLAGS.separate_new_conn],
"starting a connective as its own transition")
print(["Not treating", "Treating"][FLAGS.separate_shift],
"completing a connective as its own transition")
files_dir = argv[-1]
reader = DirectoryReader((CausalityStandoffReader.FILE_PATTERN, ),
CausalityStandoffReader(), True)
reader.open(files_dir)
writer = CausalityOracleTransitionWriter()
for document in reader: # don't read whole corpus before outputting
writer.open(splitext(document.filename)[0] + '.trans')
writer.write_all_instances(document)
def main(argv):
try:
argv = FLAGS(argv) # parse flags
iaa_paths = argv[1:]
except FlagsError as e:
print('%s\nUsage: %s ARGS\n%s' % (e, sys.argv[0], FLAGS))
sys.exit(1)
if not (FLAGS.iaa_log_differences or FLAGS.iaa_log_stats
or FLAGS.iaa_log_confusion):
print('Nothing to log for comparison')
sys.exit(0)
logging.basicConfig(
format='%(filename)s:%(lineno)s:%(levelname)s: %(message)s',
level=logging.WARN)
logging.captureWarnings(True)
reader = DirectoryReader(FLAGS.iaa_file_regexes, CausalityStandoffReader(),
FLAGS.iaa_recurse)
instances_by_path = []
for path in iaa_paths:
reader.open(path)
path_docs = reader.get_all()[:FLAGS.iaa_max_sentence]
path_instances = list(
itertools.chain.from_iterable(doc.sentences for doc in path_docs))
instances_by_path.append(path_instances)
reader.close()
instances_path_pairs = zip(instances_by_path, iaa_paths)
for ((gold, gold_path),
(predicted,
predicted_path)) in (itertools.combinations(instances_path_pairs,
2)):
print('%s vs. %s:' % (gold_path, predicted_path))
compare_instance_lists(gold, predicted, 1)
print()
brake_data = compensate(BRAKE_LINE_DATA)
brake_line.set_ydata(brake_data)
throttle_data = compensate(TROTTLE_LINE_DATA)
throttle_line.set_ydata(throttle_data)
steering_data = compensate(STEERING_LINE_DATA)
steering_line.set_ydata(steering_data)
brake_text.set_text('brake = %.1f' % brake_data[-1])
throttle_text.set_text('throttle = %.1f' % throttle_data[-1])
steering_text.set_text('steering = %.1f' % steering_data[-1])
if __name__ == '__main__':
argv = FLAGS(sys.argv)
listener()
fig, ax = plt.subplots()
X = range(FLAGS.data_length)
Xs = [i * -1 for i in X]
Xs.sort()
steering_line, = ax.plot(
Xs, [0] * FLAGS.data_length, 'b', lw=3, alpha=0.5, label='steering')
throttle_line, = ax.plot(
Xs, [0] * FLAGS.data_length, 'g', lw=3, alpha=0.5, label='throttle')
brake_line, = ax.plot(
Xs, [0] * FLAGS.data_length, 'r', lw=3, alpha=0.5, label='brake')
brake_text = ax.text(0.75, 0.85, '', transform=ax.transAxes)
throttle_text = ax.text(0.75, 0.90, '', transform=ax.transAxes)
steering_text = ax.text(0.75, 0.95, '', transform=ax.transAxes)
now = datetime.datetime.now().strftime("%Y-%m-%d_%H.%M.%S")
log_file = open(log_path + now + ".txt", "w")
rospy.init_node(FLAGS.navigation_planning_node_name, anonymous=True)
rospy.Subscriber('/apollo/sensor/mobileye', mobileye_pb2.Mobileye,
mobileye_callback)
rospy.Subscriber('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
localization_callback)
rospy.Subscriber('/apollo/canbus/chassis', chassis_pb2.Chassis,
chassis_callback)
rospy.Subscriber('/apollo/navigation', navigation_pb2.NavigationInfo,
routing_callback)
planning_pub = rospy.Publisher(FLAGS.navigation_planning_topic,
planning_pb2.ADCTrajectory,
queue_size=1)
if __name__ == '__main__':
try:
argv = FLAGS(sys.argv) # parse flags
except gflags.FlagsError as e:
print('%s\\nUsage: %s ARGS\\n%s' % (e, sys.argv[0], FLAGS))
sys.exit(1)
try:
init()
rospy.spin()
finally:
log_file.close()
def main(argv):
"""
Main function
"""
argv = FLAGS(argv)
print """
Keyboard Shortcut:
[q]: Quit Tool
[s]: Save Figure
[a]: Auto-adjust x, y axis to display entire plot
[x]: Update Figure to Display last few Planning Trajectory instead of all
[h][r]: Go back Home, Display all Planning Trajectory
[f]: Toggle Full Screen
[n]: Reset all Plots
[b]: Unsubscribe Topics
Legend Description:
Red Line: Current Planning Trajectory
Blue Line: Past Car Status History
Green Line: Past Planning Target History at every Car Status Frame
Cyan Dashed Line: Past Planning Trajectory Frames
"""
rospy.init_node('realtime_plot', anonymous=True)
fig = plt.figure()
ax1 = plt.subplot(2, 2, 1)
item1 = Xyitem(ax1, WindowSize, VehicleLength, "Trajectory", "X [m]",
"Y [m]")
ax2 = plt.subplot(2, 2, 2)
item2 = Item(ax2, "Speed", "Time [sec]", "Speed [m/s]", 0, 30)
if not FLAGS.show_st_graph:
ax3 = plt.subplot(2, 2, 3, sharex=ax2)
item3 = Item(ax3, "Curvature", "Time [sec]", "Curvature [m-1]", -0.2,
0.2)
else:
ax3 = plt.subplot(2, 2, 3)
item3 = Stitem(ax3, "ST Graph", "Time [sec]", "S [m]")
ax4 = plt.subplot(2, 2, 4, sharex=ax2)
if not FLAGS.show_heading:
item4 = Item(ax4, "Acceleration", "Time [sec]",
"Acceleration [m/sec^2]", -5, 5)
else:
item4 = Item(ax4, "Heading", "Time [sec]", "Heading [radian]", -4, 4)
plt.tight_layout(pad=0.20)
plt.ion()
plt.show()
prevtime = 0
plotter = Plotter(item1, item2, item3, item4)
fig.canvas.mpl_connect('key_press_event', plotter.press)
planning_sub = rospy.Subscriber('/apollo/planning',
planning_pb2.ADCTrajectory,
plotter.callback_planning,
queue_size=3)
localization_sub = rospy.Subscriber('/apollo/localization/pose',
localization_pb2.LocalizationEstimate,
plotter.callback_localization,
queue_size=3)
chassis_sub = rospy.Subscriber('/apollo/canbus/chassis',
chassis_pb2.Chassis,
plotter.callback_chassis,
queue_size=3)
plotter.updatesub(planning_sub, localization_sub, chassis_sub)
r = rospy.Rate(5)
while not rospy.is_shutdown():
ax1.draw_artist(ax1.patch)
ax2.draw_artist(ax2.patch)
ax3.draw_artist(ax3.patch)
ax4.draw_artist(ax4.patch)
with plotter.lock:
item1.draw_lines()
item2.draw_lines()
item3.draw_lines()
item4.draw_lines()
fig.canvas.blit(ax1.bbox)
fig.canvas.blit(ax2.bbox)
fig.canvas.blit(ax3.bbox)
fig.canvas.blit(ax4.bbox)
fig.canvas.flush_events()
r.sleep()
'Filter smaller connectives', remove_smaller_matches,
lambda: PairwiseAndNonIAAEvaluator(
False, False, FLAGS.filter_print_test_instances, True))
stages.append(smaller_filter_stage)
return stages
# def main(argv):
if __name__ == '__main__':
logging.basicConfig(
format='%(filename)s:%(lineno)s:%(levelname)s: %(message)s',
level=logging.INFO)
logging.captureWarnings(True)
try:
FLAGS.Reset()
FLAGS(sys.argv) # parse flags
if not FLAGS.models_dir:
FLAGS.models_dir = os.path.join('..', 'models', FLAGS.pipeline_type)
# Print command line in case we ever want to re-run from output file
print "Flags:"
print_indented(1, FLAGS.FlagsIntoString())
print "Git info:"
print_indented(1, subprocess.check_output("git rev-parse HEAD".split()),
"Modified:", sep='')
print_indented(2, subprocess.check_output("git ls-files -m".split()))
print "Available filter features:"
print_indented(
1, '\n'.join(sorted(e.name for e in
CausalClassifierModel.all_feature_extractors)))
