[Personalrobots-commit] SF.net SVN: personalrobots:[23827] pkg/trunk/sandbox/planar_objects

[<jue...@us...>]

Revision: 23827
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=23827&view=rev
Author:   juergensturm
Date:     2009-09-04 08:29:41 +0000 (Fri, 04 Sep 2009)

Log Message:
-----------
eval saver

Modified Paths:
--------------
    pkg/trunk/sandbox/planar_objects/CMakeLists.txt
    pkg/trunk/sandbox/planar_objects/run_experiment.sh
    pkg/trunk/sandbox/planar_objects/src/box_detector.cpp

Added Paths:
-----------
    pkg/trunk/sandbox/planar_objects/src/eval_saver.cpp
    pkg/trunk/sandbox/planar_objects/src/eval_saver.h

Modified: pkg/trunk/sandbox/planar_objects/CMakeLists.txt
===================================================================
--- pkg/trunk/sandbox/planar_objects/CMakeLists.txt	2009-09-04 08:22:17 UTC (rev 23826)
+++ pkg/trunk/sandbox/planar_objects/CMakeLists.txt	2009-09-04 08:29:41 UTC (rev 23827)
@@ -36,6 +36,8 @@
 
 rospack_add_executable(mocap_eval src/mocap_eval.cpp src/vis_utils.cpp  src/track_utils.cpp)
 
+rospack_add_executable(eval_saver src/eval_saver.cpp)
+
 #rospack_add_executable(stereo_throttle src/stereo_throttle)
 
 rospack_add_executable(box_tracker src/box_tracker.cpp src/vis_utils.cpp src/track_utils.cpp)

Modified: pkg/trunk/sandbox/planar_objects/run_experiment.sh
===================================================================
--- pkg/trunk/sandbox/planar_objects/run_experiment.sh	2009-09-04 08:22:17 UTC (rev 23826)
+++ pkg/trunk/sandbox/planar_objects/run_experiment.sh	2009-09-04 08:29:41 UTC (rev 23827)
@@ -4,7 +4,7 @@
 do
 
 #bagfile=$1
-time_per_frame="40.00"
+time_per_frame="30.00"
 save_to="$HOME/bags/output"
 record_topics="/box_detector/observations"
 
@@ -64,8 +64,8 @@
 
 #  gnome-terminal --geometry $1 --command "bash -i -c \". $HOME/.bashrc; pwd; echo $2; $2; echo Exiting..; sleep 3\""
 
-  $2 &> /dev/null &
-# $2 &
+#  $2 &> /dev/null &
+ $2 &
 }
 
 start 80x6-0-0 "roscore"

Modified: pkg/trunk/sandbox/planar_objects/src/box_detector.cpp
===================================================================
--- pkg/trunk/sandbox/planar_objects/src/box_detector.cpp	2009-09-04 08:22:17 UTC (rev 23826)
+++ pkg/trunk/sandbox/planar_objects/src/box_detector.cpp	2009-09-04 08:29:41 UTC (rev 23827)
@@ -238,7 +238,7 @@
   Time timeStamp = Time::now();
 
   currentTime = Time::now();
-  if (lastTime + lastDuration * 1.1 > currentTime)
+  if (lastTime + lastDuration * 0.1 > currentTime)
   {
     ROS_INFO("skipping frame..");
     return;

Added: pkg/trunk/sandbox/planar_objects/src/eval_saver.cpp
===================================================================
--- pkg/trunk/sandbox/planar_objects/src/eval_saver.cpp	                        (rev 0)
+++ pkg/trunk/sandbox/planar_objects/src/eval_saver.cpp	2009-09-04 08:29:41 UTC (rev 23827)
@@ -0,0 +1,73 @@
+/*
+ * box_tracker.cpp
+ *
+ *  Created on: Jul 28, 2009
+ *      Author: sturm
+ */
+
+#include "assert.h"
+#include "eval_saver.h"
+#include "ros/node.h"
+
+#include <fstream>
+
+#define PRINTVEC(a) a.x()<<" "<<a.y()<<" "<<a.z()<<" "
+#define SQR(a) ((a)*(a))
+#define sqr(a) ((a)*(a))
+#define CVWINDOW(a) cvNamedWindow(a,CV_WINDOW_AUTOSIZE); cvMoveWindow(a,(cvWindows /3 )* 500,(cvWindows%3)*500); cvWindows++;
+
+#define PRINTTF(tf) \
+	"btTransform(btQuaternion(" <<\
+	" "<<(tf).getRotation().x()<< \
+	","<<(tf).getRotation().y()<< \
+	","<<(tf).getRotation().z()<< \
+	","<<(tf).getRotation().w() << \
+	"),btVector3("<<(tf).getOrigin().x()<< \
+	","<<(tf).getOrigin().y()<< \
+	","<<(tf).getOrigin().z()<< "))"
+
+using namespace std;
+
+int main(int argc, char **argv) {
+	ros::init(argc, argv, "eval_saver");
+
+	planar_objects::EvalSaver node;
+	ros::spin();
+
+	return 0;
+}
+
+namespace planar_objects {
+
+// Constructor
+EvalSaver::EvalSaver() {
+	// subscribe to topics
+	eval_sub = nh.subscribe("mocap_eval/eval", 0,&EvalSaver::evalCallback, this);
+}
+
+void EvalSaver::evalCallback(const MocapEvalObservations::ConstPtr& msg) {
+	eval_msg = msg;
+
+	ofstream obs_file ( "eval-obs.txt", ios::app );
+	ofstream rec_file ( "eval-rec.txt", ios::app );
+
+	for (size_t i = 0; i < msg->obs.size(); i++) {
+		stringstream s;
+		s <<msg->dist_to_camera<<" "<<(msg->angle_to_camera/M_PI*180.)<<" "<<
+			msg->obs[i].err_trans<<" "<<(msg->obs[i].err_rot/M_PI*180.0)<<" " <<
+			msg->obs[i].w<<" "<<msg->obs[i].h<<" "<<
+			msg->obs[i].plane_id<<" "<<
+			endl;
+
+		obs_file << s.str();
+		cout <<s.str();
+	}
+
+	stringstream s;
+	s <<msg->dist_to_camera<<" "<<(msg->angle_to_camera/M_PI*180.)<<" "<<msg->obs.size()<<endl;
+
+	rec_file << s.str();
+	cout <<s.str();
+}
+
+}

Added: pkg/trunk/sandbox/planar_objects/src/eval_saver.h
===================================================================
--- pkg/trunk/sandbox/planar_objects/src/eval_saver.h	                        (rev 0)
+++ pkg/trunk/sandbox/planar_objects/src/eval_saver.h	2009-09-04 08:29:41 UTC (rev 23827)
@@ -0,0 +1,37 @@
+/*
+ * box_tracker.h
+ *
+ *  Created on: Jul 28, 2009
+ *      Author: sturm
+ */
+
+#ifndef EVAL_SAVER_H_
+#define EVAL_SAVER_H_
+
+#include "ros/ros.h"
+#include "planar_objects/MocapEvalObservations.h"
+
+namespace planar_objects
+{
+
+class EvalSaver
+{
+public:
+  ros::NodeHandle nh;
+
+  // MESSAGES - INCOMING
+  ros::Subscriber eval_sub;
+  MocapEvalObservationsConstPtr eval_msg;
+
+  // Constructor
+  EvalSaver();
+
+  // Callbacks
+  void evalCallback(const MocapEvalObservations::ConstPtr& observations);
+};
+
+}
+
+int main(int argc, char** argv);
+
+#endif /* BOX_TRACKER_H_ */


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.