[WIP] PERCEPTION: scan the code and totem colors

perception/navigator_vision/config/stc/datasets.yaml

@@ -0,0 +1,20 @@
+# Defines one labeling project
+datasets:
+    - name: navigator_stc_seecam
+      sources:
+        - file: 2018-02-18/stc.bag                       # bag file name. Will be resolved relative to bag dir set in yaml of cli argument
+          topic: /camera/seecam/image_raw     # Topic in bag to extract images from
+          encoding: rect_color                # How to process image if needed, can be mono, rect, color, or rect_color
+          freq: 0.5                           # Number of images to extract per second of bag time
+        - file: 2018-02-04/stc_closer.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.5
+        - file: 2018-02-04/scanthecode.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.05
+        - file: 2018-02-18/stc2.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.5

perception/navigator_vision/config/stc/training.csv

@@ -0,0 +1,48 @@
+,Class,B,G,R,H,S,V,L,A,B
+0,2,169,198,134,76,82,198,191,101,136
+1,3,246,115,132,124,136,246,143,167,64
+2,1,138,125,197,175,93,197,154,158,133
+3,4,173,189,201,17,36,201,197,130,138
+4,2,172,201,135,77,84,201,194,101,136
+5,2,171,200,132,77,87,200,193,100,136
+6,0,142,127,130,126,27,142,138,132,120
+7,0,141,126,129,126,27,141,137,132,120
+8,4,169,204,200,33,44,204,207,121,145
+9,1,110,121,209,3,121,209,154,161,149
+10,3,248,115,105,118,147,248,138,162,60
+11,1,109,122,210,4,123,210,155,161,150
+12,3,246,112,103,118,148,246,135,163,60
+13,1,109,120,210,3,123,210,153,162,149
+14,3,250,109,100,118,153,250,134,166,56
+15,1,112,125,206,4,116,206,155,158,148
+16,3,248,110,102,118,150,248,134,165,58
+17,1,107,118,210,3,125,210,152,163,150
+18,3,246,112,103,118,148,246,135,163,60
+19,3,250,109,98,118,155,250,134,165,56
+20,4,167,199,197,32,41,199,202,122,144
+21,2,145,182,113,74,97,182,176,98,140
+22,0,139,113,115,122,48,139,124,135,114
+23,2,143,178,113,74,93,178,172,99,139
+24,0,138,113,115,122,46,138,124,134,115
+25,2,148,177,117,76,86,177,172,102,137
+26,0,141,116,118,122,45,141,127,134,115
+27,2,151,181,119,75,87,181,176,101,137
+28,0,140,114,116,122,47,140,125,134,114
+29,4,135,156,173,17,56,173,167,131,141
+30,0,140,114,116,122,47,140,125,134,114
+31,4,134,151,165,16,48,165,161,130,139
+32,0,141,115,117,122,47,141,126,134,114
+33,4,134,156,171,18,55,171,166,130,142
+34,0,141,115,117,122,47,141,126,134,114
+35,4,136,160,177,18,59,177,170,130,143
+36,0,140,114,116,122,47,140,125,134,114
+37,4,134,154,170,17,54,170,165,131,141
+38,0,141,115,117,122,47,141,126,134,114
+39,4,134,156,173,17,57,173,167,131,142
+40,4,133,158,174,18,60,174,168,130,143
+41,4,129,150,164,18,54,164,160,130,141
+42,4,136,154,168,17,49,168,164,130,139
+43,4,135,154,169,17,51,169,164,130,140
+44,4,129,159,174,20,66,174,168,129,146
+45,4,134,159,175,18,60,175,169,130,143
+46,4,132,154,171,17,58,171,165,131,142

perception/navigator_vision/config/totems_color/datasets.yaml

@@ -0,0 +1,68 @@
+# Defines one labeling project
+datasets:
+    - name: navigator_totems_color_seecam
+      sources:
+        - file: 2018-02-18/blue_totem_bright.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.5
+        - file: 2018-02-18/red_totem_bright.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.5
+        - file: 2018-02-18/yellow_totem_bright.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.5
+        - file: 2018-02-18/white_totem_bright.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.5
+        - file: 2018-03-18/greentotem.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.2
+        - file: 2018-03-18/redtotem.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 2.0
+        - file: 2018-03-18/whitetotem.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.25
+        - file: 2018-02-04/greentotem.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.2
+        - file: 2018-02-04/bluetotem.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.3
+        - file: 2018-02-04/blue_totem_cloudy.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.8
+        - file: 2018-02-04/green_totem_cloudy.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.5
+        - file: 2018-02-04/red_totem_cloudy.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.5
+        - file: 2018-02-04/yellow_totem_cloudy.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.75
+        - file: 2018-02-04/yellowtotem.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.3
+        - file: 2018-02-04/white_totem_cloudy.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.75
+        - file: 2018-02-04/whitetotem.bag
+          topic: /camera/seecam/image_raw
+          encoding: rect_color
+          freq: 0.75

perception/navigator_vision/config/totems_color/training.csv

@@ -0,0 +1,133 @@
+,Class,B,G,R,H,S,V,L,A,B
+0,0,207,217,223,19,18,223,222,128,134
+1,4,94,184,211,23,141,211,192,127,177
+2,0,209,205,211,160,7,211,212,131,127
+3,0,210,221,228,18,20,228,226,129,134
+4,4,90,185,212,23,147,212,193,126,179
+5,0,206,200,205,145,7,206,207,131,126
+6,0,208,221,227,21,21,227,225,128,135
+7,4,90,187,215,23,148,215,195,126,180
+8,1,87,93,194,2,141,194,132,168,151
+9,3,208,131,109,113,121,208,143,141,86
+10,0,213,225,231,20,20,231,229,128,135
+11,4,87,177,203,23,146,203,186,126,177
+12,1,85,90,194,1,143,194,131,169,151
+13,0,210,220,226,19,18,226,225,128,134
+14,4,97,189,218,23,142,218,197,127,178
+15,1,83,89,194,2,146,194,130,170,152
+16,0,211,221,228,18,19,228,226,129,134
+17,4,85,180,208,23,151,208,189,127,179
+18,1,84,89,190,1,142,190,129,168,150
+19,0,216,228,233,21,19,233,231,128,134
+20,1,76,81,168,2,140,168,116,163,148
+21,1,81,89,188,2,145,188,128,167,152
+22,3,186,127,107,112,108,186,138,136,95
+23,0,207,219,225,20,20,225,223,128,135
+24,1,78,83,167,2,136,167,116,162,147
+25,2,115,195,128,55,105,195,186,91,162
+26,0,209,221,226,21,19,226,225,128,135
+27,1,86,89,169,1,125,169,121,160,145
+28,2,118,203,130,56,107,203,192,89,163
+29,0,210,222,227,21,19,227,226,128,134
+30,1,82,86,170,1,132,170,119,162,146
+31,2,118,198,130,56,103,198,188,91,161
+32,0,211,224,229,22,20,229,228,128,135
+33,1,84,88,171,1,130,171,121,162,146
+34,2,116,193,127,56,102,193,184,92,160
+35,0,214,226,230,23,18,230,229,127,134
+36,2,75,134,88,53,112,134,131,101,155
+37,2,116,191,125,56,100,191,182,92,159
+38,0,211,223,228,21,19,228,227,128,134
+39,2,77,134,89,54,108,134,131,101,154
+40,0,146,149,157,8,18,157,159,130,131
+41,0,208,219,224,21,18,224,223,128,134
+42,2,81,135,93,53,102,135,133,103,152
+43,0,147,150,159,8,19,159,160,131,131
+44,0,210,223,228,22,20,228,227,128,135
+45,2,75,133,88,53,111,133,130,101,154
+46,0,147,150,159,8,19,159,160,131,131
+47,0,213,226,232,21,21,232,230,128,135
+48,2,79,135,92,53,106,135,133,102,153
+49,0,148,151,160,8,19,160,161,131,131
+50,0,204,218,224,21,23,224,222,128,136
+51,2,76,134,89,53,110,134,131,101,155
+52,0,150,150,158,0,13,158,160,131,129
+53,0,211,224,229,22,20,229,228,128,135
+54,2,74,136,88,53,116,136,133,99,156
+55,4,67,221,233,28,182,233,221,115,201
+56,0,211,224,230,21,21,230,228,128,135
+57,2,70,134,84,53,122,134,130,98,157
+58,0,205,219,224,22,22,224,223,127,136
+59,4,65,225,237,28,185,237,225,115,203
+60,3,150,92,77,114,124,150,103,139,94
+61,0,207,220,225,22,20,225,224,127,135
+62,1,29,45,156,4,208,156,92,173,164
+63,3,149,93,77,113,123,149,103,138,95
+64,0,211,224,229,22,20,229,228,128,135
+65,1,27,43,154,4,210,154,90,173,164
+66,3,154,96,82,114,119,154,107,139,95
+67,0,207,220,226,21,21,226,224,128,135
+68,1,28,44,155,4,209,155,91,173,164
+69,3,149,97,83,114,113,149,107,137,98
+70,0,207,220,225,22,20,225,224,127,135
+71,1,27,48,156,5,211,156,93,172,165
+72,3,153,95,81,114,120,153,106,139,94
+73,0,207,220,226,21,21,226,224,128,135
+74,3,153,97,83,114,117,153,108,138,96
+75,1,26,50,158,5,213,158,95,172,167
+76,0,209,220,226,19,19,226,224,128,134
+77,3,157,100,86,114,115,157,111,138,95
+78,3,192,108,87,114,139,192,122,145,81
+79,0,191,187,194,163,9,194,195,131,127
+80,3,154,98,84,114,116,154,109,138,96
+81,3,191,106,86,114,140,191,120,146,81
+82,0,190,186,193,163,9,193,194,131,127
+83,3,153,97,82,114,118,153,108,138,96
+84,3,191,106,85,114,142,191,120,145,81
+85,0,194,190,197,163,9,197,198,131,127
+86,3,154,96,81,114,121,154,107,139,95
+87,3,191,106,86,114,140,191,120,146,81
+88,0,191,187,193,160,8,193,195,131,127
+89,3,118,77,69,115,106,118,86,137,103
+90,0,190,187,193,165,8,193,195,131,127
+91,3,116,75,67,115,108,116,84,136,103
+92,0,187,184,190,165,8,190,192,131,127
+93,3,117,77,69,115,105,117,86,136,104
+94,0,190,186,192,160,8,192,194,131,127
+95,1,66,67,104,1,93,104,83,144,135
+96,3,116,76,69,116,103,116,85,136,104
+97,4,41,136,162,24,190,162,147,128,180
+98,3,126,88,82,116,89,126,98,135,106
+99,3,38,134,161,23,195,161,145,128,180
+100,3,135,105,103,118,60,135,116,134,111
+101,4,44,132,160,23,185,160,144,129,177
+102,3,134,109,108,119,49,134,119,133,114
+103,4,40,133,161,23,192,161,144,129,179
+104,1,76,79,127,2,102,127,99,148,138
+105,3,133,107,105,118,54,133,117,133,113
+106,3,36,129,157,23,197,157,141,129,179
+107,3,118,81,74,115,95,118,90,135,106
+108,4,36,135,161,24,198,161,146,128,181
+109,3,123,83,75,115,100,123,92,135,104
+110,4,36,135,161,24,198,161,146,128,181
+111,2,88,162,114,49,116,162,158,98,161
+112,4,42,133,159,23,188,159,144,128,178
+113,2,93,165,118,50,111,165,161,99,160
+114,4,40,129,154,23,189,154,140,128,177
+115,2,91,167,119,49,116,167,162,98,162
+116,4,37,125,145,24,190,145,135,126,176
+117,2,93,169,122,49,115,169,164,98,162
+118,2,93,168,121,49,114,168,163,98,162
+119,4,42,115,130,25,173,130,124,125,169
+120,2,89,161,118,48,114,161,157,100,161
+121,4,77,180,207,24,160,207,188,126,183
+122,4,91,188,215,23,147,215,196,126,180
+123,2,93,162,124,47,109,162,159,102,160
+124,0,222,214,225,158,12,225,221,133,125
+125,4,86,184,211,24,151,211,192,126,180
+126,0,227,218,231,159,14,231,225,134,125
+127,4,83,182,207,24,153,207,190,125,181
+128,0,222,214,225,158,12,225,221,133,125
+129,4,86,184,210,24,151,210,192,126,180
+130,0,226,219,228,157,10,228,225,132,126
+131,4,82,183,210,24,155,210,191,126,182

perception/navigator_vision/navigator_vision/__init__.py

@@ -0,0 +1,2 @@
+from scan_the_code_classifier import ScanTheCodeClassifier
+from totems_color_classifier import TotemsColorClassifier

perception/navigator_vision/navigator_vision/scan_the_code_classifier.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+from mil_vision_tools import GaussianColorClassifier
+from rospkg import RosPack
+import os
+
+
+class ScanTheCodeClassifier(GaussianColorClassifier):
+    CLASSES = ['stc_off', 'stc_red', 'stc_green', 'stc_blue', 'stc_yellow']
+
+    def __init__(self):
+        rospack = RosPack()
+        path = rospack.get_path('navigator_vision')
+        training_file = os.path.join(path, 'config/stc/training.csv')
+        labelfile = os.path.join(path, 'config/stc/labels.json')
+        super(ScanTheCodeClassifier, self).__init__(ScanTheCodeClassifier.CLASSES,
+                                                    training_file=training_file, labelfile=labelfile)
+
+
+if __name__ == '__main__':
+    '''
+    Can be run as executable to extract features or check accuracy score
+    '''
+    import sys
+    s = ScanTheCodeClassifier()
+    s.main(sys.argv[1:])

perception/navigator_vision/navigator_vision/totems_color_classifier.py

@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+from mil_vision_tools import GaussianColorClassifier
+from rospkg import RosPack
+import os
+
+
+class TotemsColorClassifier(GaussianColorClassifier):
+    CLASSES = ['{}_totem'.format(color) for color in ['white', 'red', 'green', 'blue', 'yellow']]
+
+    def __init__(self):
+        rospack = RosPack()
+        path = rospack.get_path('navigator_vision')
+        training_file = os.path.join(path, 'config/totems_color/training.csv')
+        labelfile = os.path.join(path, 'config/totems_color/labels.json')
+        super(TotemsColorClassifier, self).__init__(self.CLASSES,
+                                                    training_file=training_file, labelfile=labelfile)
+
+
+if __name__ == '__main__':
+    '''
+    Can be run as executable to extract features or check accuracy score
+    '''
+    import sys
+    c = TotemsColorClassifier()
+    c.main(sys.argv[1:])