Surveillance.deployment.Base Namespace Reference

Classes
class	BaseSurveillanceDeploy
class	Params

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)

Variables
	act_codebook
	act_mark_cache
	act_mark_pub
def	baseSurveillance = BaseSurveillanceDeploy.build(configs)
	BEV_mat
	configs
	depth_scale
	fDir = os.path.dirname(os.path.realpath(__file__))
	hTracker
	humanAndhumanImg
	humanImg
	humanMask
	img_BEV
	imgSource
	intrinsic
	M_WtoC
	M_WtoR
	meaBoardImg
	meaBoardMask
	params
	puzzleImg
	rate
	robotImg
	save_dir = os.path.dirname(fDir)
	scene_interpreter
	test_dep_pub
	test_depth
	test_rgb
	test_rgb_pub
	visibleMask
	visualize

Detailed Description

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

The test script at the end will do nothing other than
performing the Surveillance system calibration run on the
incoming camera signals, and retrieve the processing result
for visualization

@author:    Yiye Chen,          yychen2019@gatech.edu
@date:      02/16/2022

Function Documentation

__init__()

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

@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.

measure()

def Surveillance.deployment.Base.measure	(		self,
			rgb,
			dep
	)

get the measure board

return the measure board mask and the measure board img

postprocess()

def Surveillance.deployment.Base.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 Surveillance.deployment.Base.process	(		self,
			rgb,
			dep,
			puzzle_postprocess = True
	)

publish_activity()

def Surveillance.deployment.Base.publish_activity	(		self,
			char
	)

publish_data()

def Surveillance.deployment.Base.publish_data

(

self

)

run()

def Surveillance.deployment.Base.run

(

self

)

save_data()

def Surveillance.deployment.Base.save_data

(

self

)

vis()

def Surveillance.deployment.Base.vis	(		self,
			rgb,
			dep
	)

vis_input()

def Surveillance.deployment.Base.vis_input	(		self,
			rgb,
			dep
	)

@brief Visualize the input.

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

vis_near_hand_puzzles()

def Surveillance.deployment.Base.vis_near_hand_puzzles

(

self

)

@ brief Visualize the puzzle pices location near the hand.

vis_results()

def Surveillance.deployment.Base.vis_results

(

self

)

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

Variable Documentation

act_codebook

act_codebook

act_mark_cache

act_mark_cache

act_mark_pub

act_mark_pub

baseSurveillance

def baseSurveillance = BaseSurveillanceDeploy.build(configs)

BEV_mat

BEV_mat

configs

configs

Initial value:

=  Params(
        markerLength=0.08,
        save_dir=save_dir,
        reCalibrate=False,
        calib_data_save_dir=os.path.join(
            os.path.dirname(os.path.abspath(__file__)),
            "cache_base"
        )
    )

depth_scale

depth_scale

fDir

fDir = os.path.dirname(os.path.realpath(__file__))

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 = os.path.dirname(fDir)

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