示例#1
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Author: Yuhuang Hu
Email : [email protected]
"""
from __future__ import print_function, absolute_import
from builtins import range
import os

import cv2
#  import numpy as np
import h5py
import matplotlib.pyplot as plt

import spiker
from spiker import log

logger = log.get_logger("hdf5-test", log.INFO)

hdf5_path = os.path.join(
    spiker.SPIKER_DATA, "rosbag",
    "test-walk_speed-monstruck_rec_2018-02-02-18-49-15-foyer-ccw.hdf5")

dataset = h5py.File(hdf5_path, "r")

pwm_data = dataset["/extra/pwm/pwm_data"][()]

plt.figure()
# steering data
plt.plot(pwm_data[:, 0])
plt.show()

for frame_id in range(dataset["extra/bind/bind_data"].shape[0]):
示例#2
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"""ResNets.

With only TensorFlow backend.

Follows fchollet's design

Author: Yuhuang Hu
Email : [email protected]
"""
from __future__ import print_function, absolute_import
from builtins import range

from spiker import log

logger = log.get_logger("models-resnet", log.DEBUG)

try:
    from keras.layers import Input
    from keras.layers import Dense
    from keras.layers import Conv2D
    from keras.layers import BatchNormalization
    from keras.layers import Activation
    from keras.layers import GlobalAveragePooling2D
    from keras.layers import add
    from keras.models import Model
    from keras.regularizers import l2
except ImportError:
    logger.critical("There is no keras available.")


def resnet_block(input_tensor,
示例#3
0
Author: Yuhuang Hu
Email : [email protected]
"""
from __future__ import print_function
from builtins import range
import os

import numpy as np
import rosbag
import h5py

import spiker
from spiker import log
from spiker.data import rosbag as rb

logger = log.get_logger("rosbag-test", log.INFO)

bag_path = os.path.join(
    spiker.SPIKER_DATA, "rosbag",
    "test-walk_speed-monstruck_rec_2018-02-02-18-49-15-foyer-ccw.bag")
hdf5_path = bag_path[:-4] + ".hdf5"

bag = rosbag.Bag(bag_path, "r")

bag_topics = rb.get_topics(bag)

for key, value in bag_topics.iteritems():
    logger.info("Topic: %s" % (key))

num_images = rb.get_msg_count(bag, "/dvs/image_raw")
logger.info("Number of images: %d" % (num_images))
示例#4
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        aps_head = 0
        pwm_head = np.nonzero(pwm_time > aps_time[0])[0][0]

    if aps_time[-1] <= pwm_time[-1]:
        # pwm finish after
        aps_tail = aps_time.shape[0]
        pwm_tail = np.nonzero(pwm_time > aps_time[-1])[0][0] - 1
    elif aps_time[-1] > pwm_time[-1]:
        # pwm finish before
        aps_tail = np.nonzero(aps_time > pwm_time[-1])[0][0]
        pwm_tail = pwm_time.shape[0]

    return aps_head, pwm_head, aps_tail, pwm_tail


logger = log.get_logger("hdf5-exporter", log.INFO)

dvs_bin_size = 100  # ms
clip_value = 8

hdf5_path = os.path.join(spiker.SPIKER_DATA, "rosbag",
                         "monstruck_rec_2018-01-19_indoor_cw_speeddrive.hdf5")
#  write to new file
hdf5_path_new = hdf5_path[:-5] + "_exported.hdf5"

dataset = h5py.File(hdf5_path, "r")

# basic stats
aps_time = dataset["aps/aps_ts"][()]
print(aps_time[0])
print(aps_time[346])
示例#5
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"""Utility Function at Spiker Package Level.

Author: Yuhuang Hu
Email : [email protected]
"""

from __future__ import print_function, absolute_import

import os

from spiker import log

logger = log.get_logger("utils", log.DEBUG)


def makedir(path, log_msg=None, verbose=False):
    """Make directory.

    Parameters
    ----------
    path : string
        the path of the directory.
        absolute path perferred.
    log_msg : str
        print log message if there is any.
    """
    try:
        os.makedirs(path)
        logger.info(log_msg)
    except OSError:
        if verbose is True:
示例#6
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"""HDF5 related files.

This file contains a set of functions that related to read and write
HDF5 files.

Author: Yuhuang Hu
Email : [email protected]
"""
from __future__ import print_function, absolute_import

import h5py

from spiker import log

logger = log.get_logger("data-hdf5", log.DEBUG)


def init_hdf5(file_path, mode="w", cam_type="davis"):
    """Init HDF5 file object.

    # Parameters
    file_path : str
        absolute path for the HDF5 file.
    mode : str
        w : for writing
        r : for reading
    cam_type : str
        davis : for DAVIS camera
        dvs   : for DVS camera

    # Returns
示例#7
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Author: Yuhuang Hu
Email : [email protected]
"""
from __future__ import print_function, absolute_import
import os
import sys
import yaml

import spiker
from spiker import log
if os.name == 'posix' and sys.version_info[0] < 3:
    import subprocess32 as subprocess
else:
    import subprocess

logger = log.get_logger("rosbag-module", spiker.LOG_LEVEL)

try:
    import rosbag
    from cv_bridge import CvBridge, CvBridgeError
    frame_bridge = CvBridge()
except ImportError:
    logger.warning("You need to install ROS to enable this module.")


def get_topics(bag, topic_filters=None):
    """Get the list of topics from a ROS bag.

    # Parameters
        bag: rosbag.Bag
            a target rosbag.
示例#8
0
Author: Yuhuang Hu
Email : [email protected]
"""
from __future__ import print_function
from builtins import range
import os

import numpy as np
import rosbag
import cv2

import spiker
from spiker import log
from spiker.data import rosbag as rb

logger = log.get_logger("rosbag-new-bind-test", log.INFO)

bag_path = os.path.join(spiker.SPIKER_DATA, "rosbag",
                        "monstruck_rec_2018-01-22-19-22-34.bag")
bag = rosbag.Bag(bag_path, "r")

bag_topics = rb.get_topics(bag)

for key, value in bag_topics.iteritems():
    logger.info("Topic: %s" % (key))

num_images = rb.get_msg_count(bag, "/dvs_bind")
logger.info("Number of images: %d" % (num_images))
start_time = bag.get_start_time()  # time in second
logger.info("Start time: %f" % (start_time))
end_time = bag.get_end_time()