def test_hashable():
assert hash(Foo(xyz=1)) != hash(Bar(xyz=1))
assert hash(getdag(source1)) != hash(getdag(source2))
assert hash(getdag(consumer)) != hash(consumer.clone(foo=1))
assert hash(consumer.clone(foo=1)) == hash(consumer.clone(foo=1))
assert hash(getdag(consumer)) != hash(consumer.clone(stream=source2))
assert hash(consumer.clone(stream=source2)) == hash(
consumer.clone(stream=source2))
assert hash(consumer.clone(stream=marv.select(source2, name='foo'))) != \
hash(consumer.clone(stream=marv.select(source2, name='bar')))
assert hash(consumer.clone(stream=marv.select(source2, name='foo'))) == \
hash(consumer.clone(stream=marv.select(source2, name='foo')))
def test():
@marv.node()
def source():
yield # pragma: nocoverage
@marv.node(Test, group='ondemand', version=1)
@marv.input('foo', default=1)
@marv.input('bar', type=int)
@marv.input('baz', default=source)
@marv.input('qux', foreach=marv.select(source, 'stream'))
def consumer(foo, bar, baz, qux):
yield # pragma: nocoverage
node = consumer.__marv_node__
assert node.function == 'marv_api.tests.test_decorators.test.<locals>.consumer'
assert node.inputs.__fields__.keys() == {'foo', 'bar', 'baz', 'qux'}
assert node.inputs.__annotations__ == {'bar': int}
assert node.inputs.foo == 1
assert node.inputs.bar == NOTSET
assert node.inputs.baz == Stream(node=getdag(source))
assert node.inputs.qux == Stream(node=getdag(source), name='stream')
assert node.message_schema == 'marv_api.tests.types_capnp:Test'
assert node.group == 'ondemand'
assert node.version == 1
assert node.foreach == 'qux'
def test_clone():
@marv.node()
def source1():
yield # pragma: nocoverage
@marv.node()
def source2():
yield # pragma: nocoverage
@marv.node()
@marv.input('foo', default=1)
@marv.input('stream', default=source1)
def consumer(foo, stream):
yield # pragma: nocoverage
clone = consumer.clone(foo=10, stream=source2)
assert clone.inputs.foo == 10
assert clone.inputs.stream == Stream(node=getdag(source2))
clone = consumer.clone(stream=marv.select(source2, 'foo'))
assert clone.inputs.stream == Stream(node=getdag(source2), name='foo')
# Copyright 2016 - 2020 Ternaris.
# SPDX-License-Identifier: Apache-2.0
"""Image stream conversion nodes."""
import marv_api as marv
from marv_robotics.bag import make_deserialize, messages
from marv_ros.img_tools import ImageConversionError, ImageFormatError
from marv_ros.img_tools import imgmsg_to_cv2
@marv.node()
@marv.input('stream',
marv.select(messages, '/kitti/camera_color_left/image_rawX'))
def rosmsg_imgstream(stream):
"""Convert stream of raw ros messages into stream of deserialized messages."""
deserialize = make_deserialize(stream)
fixme
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg = deserialize(msg.data)
yield marv.push(rosmsg)
@marv.node()
@marv.input('stream', rosmsg_imgstream)
def imgsrc(stream):
# Copyright 2016 - 2018 Ternaris.
# SPDX-License-Identifier: AGPL-3.0-only
from pkg_resources import resource_filename
import marv_api as marv
import marv_node.testing
from marv_node.testing import make_dataset, run_nodes, temporary_directory
from marv_robotics.bag import get_message_type, messages
from marv_robotics.fulltext import fulltext
from marv_store import Store
@marv.node()
@marv.input('chatter', default=marv.select(messages, '/chatter'))
def collect(chatter):
pytype = get_message_type(chatter)
rosmsg = pytype()
msg = yield marv.pull(chatter)
assert msg is not None
rosmsg.deserialize(msg.data)
yield marv.push(rosmsg.data)
while True:
msg = yield marv.pull(chatter)
if msg is None:
return
rosmsg.deserialize(msg.data)
yield marv.push(rosmsg.data)
class TestCase(marv_node.testing.TestCase):
import mpld3
import plotly.graph_objects as go
import marv_api as marv
from marv_detail.types_capnp import Section, Widget # pylint: disable=no-name-in-module
from marv_nodes.types_capnp import File # pylint: disable=no-name-in-module
from marv_robotics.bag import get_message_type, raw_messages
from marv_ros.img_tools import imgmsg_to_cv2
TOPIC = '/wide_stereo/left/image_rect_throttle'
# pylint: disable=redefined-outer-name
@marv.node(File)
@marv.input('cam', marv.select(raw_messages, TOPIC))
def image(cam):
"""Extract first image of input stream to jpg file.
Args:
cam: Input stream of raw rosbag messages.
Returns:
File instance for first image of input stream.
"""
# Set output stream title and pull first message
yield marv.set_header(title=cam.topic)
msg = yield marv.pull(cam)
if msg is None:
return
# Copyright 2016 - 2018 Ternaris.
# SPDX-License-Identifier: AGPL-3.0-only
import re
import marv_api as marv
from marv_api.types import Words
from .bag import make_deserialize, messages
WSNULL = re.compile(r'[\s\x00]')
@marv.node(Words)
@marv.input('stream',
foreach=marv.select(messages, ('*:std_msgs/String,'
'*:std_msgs/msg/String')))
def fulltext_per_topic(stream):
yield marv.set_header(title=stream.topic)
words = set()
deserialize = make_deserialize(stream)
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg = deserialize(msg.data)
words.update(WSNULL.split(rosmsg.data))
if not words:
raise marv.Abort()
yield marv.push({'words': list(words)})
import json
import math
from math import asin, cos, radians, sin, sqrt
from pathlib import Path
import numpy
import utm
import marv_api as marv
from marv_api.types import Float64Value
from marv_detail.types_capnp import Section # pylint: disable=no-name-in-module
from marv_robotics.bag import make_deserialize, make_get_timestamp, messages
@marv.node()
@marv.input('stream', marv.select(messages, '*:sensor_msgs/NavSatFix'))
# @marv.input('stream', marv.select(messages, '*:geometry_msgs/PoseStamped'))
def motion_timestamp(stream):
"""Extract timestamps for motion events.
Args:
stream: ROS message stream with Pose or GPS messages.
Yields:
Message stream with timestamps.
"""
log = yield marv.get_logger()
stream = yield marv.pull(stream) # take first matching connection
if not stream:
return
rot[0, 0] = 1 - 2 * q2 * q2 - 2 * q3 * q3
rot[0, 1] = 2 * (q1 * q2 - q3 * q4)
rot[0, 2] = 2 * (q1 * q3 + q2 * q4)
rot[1, 0] = 2 * (q1 * q2 + q3 * q4)
rot[1, 1] = 1 - 2 * q1 * q1 - 2 * q3 * q3
rot[1, 2] = 2 * (q2 * q3 - q1 * q4)
rot[2, 0] = 2 * (q1 * q3 - q2 * q4)
rot[2, 1] = 2 * (q1 * q4 + q2 * q3)
rot[2, 2] = 1 - 2 * q1 * q1 - 2 * q2 * q2
vec = np.dot(rot, [1, 0, 0])
return np.arctan2(vec[1], vec[0])
@marv.node()
@marv.input('stream', foreach=marv.select(messages, ('*:sensor_msgs/NavSatFix,'
'*:sensor_msgs/msg/NavSatFix')))
def positions(stream):
yield marv.set_header(title=stream.topic)
log = yield marv.get_logger()
deserialize = make_deserialize(stream)
get_timestamp = make_get_timestamp(log, stream)
erroneous = 0
e_offset = None
n_offset = None
u_offset = None
positions = []
while True:
msg = yield marv.pull(stream)
if msg is None:
break
# Copyright 2016 - 2018 Ternaris.
# SPDX-License-Identifier: AGPL-3.0-only
import numpy as np
import marv_api as marv
from marv_api.types import GeoJson
from .bag import make_deserialize, make_get_timestamp, messages
@marv.node()
@marv.input('stream',
foreach=marv.select(messages, ('*:sensor_msgs/NavSatFix,'
'*:sensor_msgs/msg/NavSatFix')))
def navsatfix(stream):
yield marv.set_header(title=stream.topic)
log = yield marv.get_logger()
deserialize = make_deserialize(stream)
get_timestamp = make_get_timestamp(log, stream)
erroneous = 0
while True:
msg = yield marv.pull(stream)
if msg is None:
break
rosmsg = deserialize(msg.data)
if not hasattr(rosmsg, 'status') or \
np.isnan(rosmsg.longitude) or \
np.isnan(rosmsg.latitude) or \
np.isnan(rosmsg.altitude):
if hasattr(msg, 'format'):
return compressed_imgmsg_to_cv2(msg)
if 'FC' in msg.encoding:
passimg = numpy.nan_to_num(imgmsg_to_cv2(msg))
valscaled = cv2.convertScaleAbs(passimg, None, scale, offset)
return valscaled
mono = msg.encoding.startswith('mono') or msg.encoding[-1] in [
'1', 'U', 'S', 'F'
]
return imgmsg_to_cv2(msg, 'mono8' if mono else 'bgr8')
@marv.node(File, version=1)
@marv.input('stream', foreach=marv.select(messages, IMAGE_MSG_TYPES))
@marv.input('speed', default=4)
@marv.input('convert_32FC1_scale', default=1)
@marv.input('convert_32FC1_offset', default=0)
def ffmpeg(stream, speed, convert_32FC1_scale, convert_32FC1_offset): # pylint: disable=invalid-name
"""Create video for each sensor_msgs/Image topic with ffmpeg."""
# pylint: disable=too-many-locals
yield marv.set_header(title=stream.topic)
name = f"{stream.topic.replace('/', '_')[1:]}.webm"
video = yield marv.make_file(name)
duration = (stream.end_time - stream.start_time) * 1e-9
framerate = (stream.msg_count / duration) if duration else 1
deserialize = make_deserialize(stream)
with ExitStack() as stack:
# Copyright 2016 - 2018 Ternaris.
# SPDX-License-Identifier: AGPL-3.0-only
from pkg_resources import resource_filename
import marv_api as marv
import marv_node.testing
from marv_node.testing import make_dataset, run_nodes, temporary_directory
from marv_robotics.bag import messages
from marv_store import Store
@marv.node()
@marv.input('stream', default=marv.select(messages, '/non-existent'))
def nooutput(stream):
yield marv.set_header()
while True:
msg = yield marv.pull(stream)
if msg is None:
return
yield marv.push(msg)
@marv.node()
@marv.input('nooutput', default=nooutput)
@marv.input('chatter', default=marv.select(messages, '/chatter'))
def collect(nooutput, chatter): # pylint: disable=redefined-outer-name
msg = yield marv.pull(nooutput)
assert msg is None
msg = yield marv.pull(chatter)
assert msg is not None
