Class detects the state of the cosolve process. More...

Inheritance diagram for CosolveActivity:

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Collaboration diagram for CosolveActivity:

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Public Member Functions
def	__init__ (self, imRegions)
	Constructor for simple puzzle scene activity detector. More...

def	clearRobotActions (self)
	Clear the robot actions list. More...

def	measure (self, StateCosolveInput y)

def	measure_v2 (self, StateCosolveInput y)
	ALTERNATE: measure approach in test. More...

def	process (self, x)
	Run entire processing pipeline. More...

def	rosCallback (self, msg)
	ROS subscriber callback to store robot action. More...

Public Member Functions inherited from PuzzleActivities
def	measure (self, y)

Public Member Functions inherited from imageRegions
def	__init__ (self, imRegions=None, processor=None)
	Constructor for imageRegions class. More...

def	addRegionByMask (self, regMask)
	Provide a masked region to use for defining a new state. More...

def	addRegionByPolygon (self, regPoly, imsize=None)
	Add a region by specifying the polygon boundary. More...

def	buildFromPolygons (imsize, thePolygons)
	Construct an imageRegions instance with provided polygon regions. More...

def	calibrateFromPolygonMouseInputOverImageRGB (theImage, theFile, initRegions=None)
	Calibrate a region detector by requesting closed polygon input from user. More...

def	emptyRegions (self)
	Delete regions image if exists and return to uninitialized state. More...

def	initRegions (self, imsize)
	Initialize regions by providing target image dimensions. More...

def	printState (self)
	Print current region detection state (as string). More...

def	regions_close_cv (self, window_name="Activity Regions")
	Close the region image window. More...

def	regions_display_cv (self, ratio=1, window_name="Activity Regions")
	Display the region image to see labels. More...

def	saveTo (self, fPtr, relpath="activity.byRegion")
	Empty method for saving internal information to HDF5 file. More...

def	setRegions (self, imRegions)
	Provide a label image where the pixel label indicates the raw activity label. More...

def	specifyPolyRegionsFromImageRGB (self, theImage, doClear=False)
	Given an image, get user input as polygons that define the different regions. More...

def	specifyRegionsFromMask (self, theMask, doClear=False)
	Given an image, get user input as point clicks that select mask regions. More...

def	stringState (self)
	Convert current region detection state to string. More...

def	wipeRegions (self)
	Clear the regions image. More...

Public Member Functions inherited from fromState
def	adapt (self)
	Adapt detection model, if implemented. More...

def	correct (self)
	Correct detection state estimate, if implemented. More...

def	detect (self, x)
	Perform detection only, which basically keeps the model static if it would normally update. More...

def	getState (self)
	Get the current detection state estimate. More...

def	predict (self)
	Predict detection state outcome, if implemented. More...

def	saveTo (self, fPtr)
	Save configuration or other data to HDF5 file. More...

Public Member Functions inherited from Base
def	__init__ (self)
	Instantiate a detector Base activity class object. More...

def	emptyDebug (self)
	Return empty debug state information. More...

def	emptyState (self)
	Return empty state. More...

def	getDebug (self)
	Return current/latest debug state information. More...

def	save (self, fileName)
	Outer method for saving to a file given as a string. More...

Static Public Member Functions
def	load (fileName, relpath=None)
	Outer method for loading file given as a string (with path). More...

def	loadFrom (fptr, relpath="activity.byRegion")
	Inner method for loading internal information from HDF5 file. More...

Static Public Member Functions inherited from Base
def	loadFrom (fPtr)
	Empty method for loading internal information from HDF5 file. More...

Public Attributes
	calibrated

	cfgTrack

	hand_threshold

	imRegions

	missingPieces

	piece_threshold

	puzzleBoardEstimate

	robot_action_threshold

	robotActions

	solMask

	soln

	theParams

	tracker

	unorg

	x

	z

	zonesMask

Public Attributes inherited from PuzzleActivities
	z

Public Attributes inherited from imageRegions
	imRegions
	Image regions array. More...

	isInit
	Flag specifying initialization state. More...

	lMax
	Max label associated to image regions. More...

	z

Public Attributes inherited from fromState
	processor
	Pre-processor or similar. More...

	z
	The detection outcome. More...

Public Attributes inherited from Base
	x
	Detection state. More...

Detailed Description

Class detects the state of the cosolve process.

Constructor & Destructor Documentation

◆ init()

def __init__	(	self,
		imRegions
	)

Constructor for simple puzzle scene activity detector.

Parameters

[in] imRegions Label-type image.

Reimplemented from PuzzleActivities.

Member Function Documentation

◆ clearRobotActions()

def clearRobotActions ( self )

Clear the robot actions list.

◆ load()

def load	(	fileName,
		relpath = `None`
	)

static

Outer method for loading file given as a string (with path).

Opens file, preps for loading, invokes loadFrom routine, then closes. Overloaded to invoke coorect loadFrom member function.

Parameters

[in]	fileName	The full or relative path filename.
[in]	relpath	The hdf5 (relative) path name to use for loading. Usually class has default, this is to override.

Reimplemented from PuzzleActivities.

◆ loadFrom()

def loadFrom	(	fptr,
		relpath = `"activity.byRegion"`
	)

static

Inner method for loading internal information from HDF5 file.

Load data from given HDF5 pointer. Assumes in root from current file pointer location.

Reimplemented from PuzzleActivities.

◆ measure()

def measure	(		self,
		StateCosolveInput	y
	)

@brief  Compare image signal to empty solution board state.
@param[in]  y  StateCosolveInput

◆ measure_v2()

def measure_v2	(		self,
		StateCosolveInput	y
	)

ALTERNATE: measure approach in test.

@brief  Extract useful details from the scene.
@param[in]  y  StateCosolveInput

◆ process()

def process	(	self,
		x
	)

Run entire processing pipeline.

The entire pipeline consists of predict, measure, correct, and adapt. At least if there is a measurement. If no measurement, then only predict is executed since there is no measurement to interpret, correct, and adapt with.

Reimplemented from PuzzleActivities.

◆ rosCallback()

def rosCallback	(	self,
		msg
	)

ROS subscriber callback to store robot action.

Call this from your ROS subscriber.

Parameters

[in] msg puzzAction ROS message

Member Data Documentation

◆ calibrated

calibrated

◆ cfgTrack

cfgTrack

◆ hand_threshold

hand_threshold

◆ imRegions

imRegions

◆ missingPieces

missingPieces

◆ piece_threshold

piece_threshold

◆ puzzleBoardEstimate

puzzleBoardEstimate

◆ robot_action_threshold

robot_action_threshold

◆ robotActions

robotActions

◆ solMask

solMask

◆ soln

soln

◆ theParams

theParams

◆ tracker

tracker

◆ unorg

unorg

◆ x

x

◆ z

z

◆ zonesMask

zonesMask

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

/home/mary/python/Surveillance/Surveillance/layers/PuzzleMonitors.py

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ __init__()

Member Function Documentation

◆ clearRobotActions()

◆ load()

◆ loadFrom()

◆ measure()

◆ measure_v2()

◆ process()

◆ rosCallback()

Member Data Documentation

◆ calibrated

◆ cfgTrack

◆ hand_threshold

◆ imRegions

◆ missingPieces

◆ piece_threshold

◆ puzzleBoardEstimate

◆ robot_action_threshold

◆ robotActions

◆ solMask

◆ soln

◆ theParams

◆ tracker

◆ unorg

◆ x

◆ z

◆ zonesMask

◆ init()