BaseSurveillanceDeploy Class Reference

Public Member Functions
None	__init__ (self, imgSource, intrinsic, scene.SceneInterpreterV1 scene_interpreter, M_WtoC, M_WtoR=M_WtoR, Params params=Params())
def	measure (self, rgb, dep)
def	postprocess (self, rgb, dep)
def	process (self, rgb, dep, puzzle_postprocess=True)
def	publish_activity (self, char)
def	publish_data (self)
def	run (self)
def	save_data (self)
def	vis (self, rgb, dep)
def	vis_input (self, rgb, dep)
def	vis_near_hand_puzzles (self)
def	vis_results (self)

Static Public Member Functions
def	build (Params params=Params())
def	buildFromRosbag (bag_path, Params params)
	Build the deployment runner instance from a store ROS bag. More...
def	buildPub (Params params=Params(), bag_path=None)
	Builder for publishing the calibration data to ROS. More...

Public Attributes
	act_codebook
	act_mark_cache
	act_mark_pub
	BEV_mat
	depth_scale
	hTracker
	humanAndhumanImg
	humanImg
	humanMask
	img_BEV
	imgSource
	intrinsic
	M_WtoC
	M_WtoR
	meaBoardImg
	meaBoardMask
	params
	puzzleImg
	rate
	robotImg
	save_dir
	scene_interpreter
	test_dep_pub
	test_depth
	test_rgb
	test_rgb_pub
	visibleMask
	visualize

Detailed Description

@brief    Constructor for BaseSurveillanceDeploy class.
    
The Base class for deploying the Surveillance system.
It defines the default parameters, encompasses the calibration
process, and defines the API for further development.

@param[in]  imgSource       (callable) image source stream(s).
@param[in]  intrinsic       camera intrinsic parameters.
@param[in]  scene_interp    Scene interpreter instance.
@param[in]  M_WtoC          (optional) world to camera extrinsic.
@param[in]  M_WtoR          (optional) world to robot.
@param[in]  params          (optional) parameters structure.

Regarding the arguments,

imgSource (Callable): The image source(s) that can get the camera
  data in the following style (where status is a binary indicating
  whether the camera data is fetched successfully): 

  > rgb, dep, status = imgSource()

  Can pass None, which will disable the run API that deploy the
  system on the connected camera.

  The parameter instance params default to Params() if not provided.

Constructor & Destructor Documentation

__init__()

None __init__	(		self,
			imgSource,
			intrinsic,
		scene.SceneInterpreterV1	scene_interpreter,
			M_WtoC,
			M_WtoR = M_WtoR,
		Params	params = Params()
	)

Member Function Documentation

build()

def build ( Params   params = Params() )

static

Builder for saving the calibration data in the local cache folder.

NOTE: This function is not maintained, might contain bugs, and might be removed in the future. 
It saves the data in the video, image, or numpy npz format.
See below for more recent builders that save all the data in a rosbag.

Args:
    params (Params, optional):  The parameter passed. Defaults to Params().

Returns:
    _type_: _description_

buildFromRosbag()

def buildFromRosbag (   bag_path, Params  params  )

static

Build the deployment runner instance from a store ROS bag.

Parameters

[in]	bag_path	Rosbag file with full path.
[in]	params	(Params, optional): Deployment parameters. Defaults to Params().
[out]	BaseSurveillanceDeploy

buildPub()

def buildPub ( Params   params = Params(),   bag_path = None  )

static

Builder for publishing the calibration data to ROS.

Args: params (Params, optional): The deployment parameters. Defaults to Params(). If params.reCalibrate is False, then will read the rosbag files for the calibration data to build the system, then run on the camera data bag_path (str): The rosbag file path. Necessary if the params.reCalibrate is False. Defaults to None

Returns: type: description

measure()

def measure	(		self,
			rgb,
			dep
	)

get the measure board

return the measure board mask and the measure board img

postprocess()

def postprocess	(		self,
			rgb,
			dep
	)

Overwrite to put any pose process that is built on top of the scene interpreter her

Args:
    rgb (_type_): _description_
    dep (_type_): _description_

process()

def process	(		self,
			rgb,
			dep,
			puzzle_postprocess = True
	)

publish_activity()

def publish_activity	(		self,
			char
	)

publish_data()

def publish_data

(

self

)

run()

def run

(

self

)

save_data()

def save_data

(

self

)

vis()

def vis	(		self,
			rgb,
			dep
	)

vis_input()

def vis_input	(		self,
			rgb,
			dep
	)

@brief Visualize the input.

Args:
    rgb: The rgb image.
    dep: The depth image.

vis_near_hand_puzzles()

def vis_near_hand_puzzles

(

self

)

@ brief Visualize the puzzle pices location near the hand.

vis_results()

def vis_results

(

self

)

Overwrite to put any result-related visualization in this function.
Note: Maybe it is better to put the visualization function here.

Member Data Documentation

act_codebook

act_codebook

act_mark_cache

act_mark_cache

act_mark_pub

act_mark_pub

BEV_mat

BEV_mat

depth_scale

depth_scale

hTracker

hTracker

humanAndhumanImg

humanAndhumanImg

humanImg

humanImg

humanMask

humanMask

img_BEV

img_BEV

imgSource

imgSource

intrinsic

intrinsic

M_WtoC

M_WtoC

M_WtoR

M_WtoR

meaBoardImg

meaBoardImg

meaBoardMask

meaBoardMask

params

params

puzzleImg

puzzleImg

rate

rate

robotImg

robotImg

save_dir

save_dir

scene_interpreter

scene_interpreter

test_dep_pub

test_dep_pub

test_depth

test_depth

test_rgb

test_rgb

test_rgb_pub

test_rgb_pub

visibleMask

visibleMask

visualize

visualize

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The documentation for this class was generated from the following file:

• /home/pvela/python/surveillance/Surveillance/deployment/Base.py