From 8e37484dd7dcb8bd0f3d52d746ec9512f75120a5 Mon Sep 17 00:00:00 2001 From: Hongyu Li Date: Tue, 29 Mar 2022 15:48:40 -0400 Subject: [PATCH] updated audio node name and removed prints --- vz_acoustic_scene_analysis/launch/wav_audio.launch | 2 +- .../scripts/{stretch_audio.py => ros_interface.py} | 6 ++---- vz_ros_wrappers/launch/D435i_and_Lepton.launch | 4 +++- vz_ros_wrappers/scripts/grab_D435i.py | 5 ++++- vz_ros_wrappers/scripts/grab_thermal.py | 5 ++++- 5 files changed, 14 insertions(+), 8 deletions(-) rename vz_acoustic_scene_analysis/scripts/{stretch_audio.py => ros_interface.py} (98%) diff --git a/vz_acoustic_scene_analysis/launch/wav_audio.launch b/vz_acoustic_scene_analysis/launch/wav_audio.launch index ce95e91..53ee760 100644 --- a/vz_acoustic_scene_analysis/launch/wav_audio.launch +++ b/vz_acoustic_scene_analysis/launch/wav_audio.launch @@ -1,4 +1,4 @@ - + \ No newline at end of file diff --git a/vz_acoustic_scene_analysis/scripts/stretch_audio.py b/vz_acoustic_scene_analysis/scripts/ros_interface.py similarity index 98% rename from vz_acoustic_scene_analysis/scripts/stretch_audio.py rename to vz_acoustic_scene_analysis/scripts/ros_interface.py index 6987892..2617362 100755 --- a/vz_acoustic_scene_analysis/scripts/stretch_audio.py +++ b/vz_acoustic_scene_analysis/scripts/ros_interface.py @@ -222,6 +222,7 @@ class ROSInterface: self.sequence_size = 3 # self.secs/self.chunk_size if (self.record_count % self.sequence_size == 0): return_list = self.wav_list + print("Collected %d seconds of audio" %(self.secs)) # Remove fist two objects in array to remove 0.2 seconds of audio data from array self.wav_list.pop(0) self.wav_list.pop(0) @@ -245,8 +246,6 @@ class ROSInterface: for i in range(0, arr_length): data = stream.read(CHUNK) a = np.frombuffer(data,dtype=np.int16)[0::6] # extracts fused channel 0 - print("a type: ", type(a[0])) - print("a length: ", len(a)) self.audio_data_pub.publish(a) frames.append(a.tobytes()) @@ -275,10 +274,9 @@ class ROSInterface: if(isinstance(wav_data, list)): # flatten list flat_list = [item for sublist in wav_data for item in sublist] - print(type(flat_list[0])) # Call of Utku's function self.cough_prob = dsp.classify_cough(flat_list,RESPEAKER_RATE,self.loaded_model,self.loaded_scaler) - print(self.cough_prob) + print("%d %% probability of cough" %(self.cough_prob)) # do something with probability (publish?) except usb.core.USBError: print('Respeaker not on USB bus') diff --git a/vz_ros_wrappers/launch/D435i_and_Lepton.launch b/vz_ros_wrappers/launch/D435i_and_Lepton.launch index 3bc7305..44b114d 100644 --- a/vz_ros_wrappers/launch/D435i_and_Lepton.launch +++ b/vz_ros_wrappers/launch/D435i_and_Lepton.launch @@ -4,5 +4,7 @@ - + + + \ No newline at end of file diff --git a/vz_ros_wrappers/scripts/grab_D435i.py b/vz_ros_wrappers/scripts/grab_D435i.py index 39ede80..45480a1 100755 --- a/vz_ros_wrappers/scripts/grab_D435i.py +++ b/vz_ros_wrappers/scripts/grab_D435i.py @@ -44,10 +44,13 @@ class D435i: self.D435i_cap = cv2.VideoCapture('/dev/video4') # self.D435i_cap = cv2.VideoCapture('/home/ananya/Downloads/2022-02-09-16-20-58(2).mp4') + # Get topic parameter + self.rgbd_topic = rospy.get_param("rgbd_topic") + if not self.D435i_cap.isOpened(): raise(Exception,'Unable to open video stream') self.bridge = CvBridge() - self.D435i_pub = rospy.Publisher('/D435i/image_raw', Image, queue_size=100) + self.D435i_pub = rospy.Publisher(self.rgbd_topic, Image, queue_size=100) self.timer = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.publish_image) self.timer_display = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.display_images) diff --git a/vz_ros_wrappers/scripts/grab_thermal.py b/vz_ros_wrappers/scripts/grab_thermal.py index 9279e3b..0520e56 100755 --- a/vz_ros_wrappers/scripts/grab_thermal.py +++ b/vz_ros_wrappers/scripts/grab_thermal.py @@ -49,11 +49,14 @@ class FLIR_LEPTON: self.thermal_cap = cv2.VideoCapture('/dev/video6') # self.thermal_cap = cv2.VideoCapture('/home/ananya/Downloads/Thermal-3(2).mp4') + + # Get topic parameter + self.thermal_topic = rospy.get_param("thermal_topic") if not self.thermal_cap.isOpened(): raise(Exception,'Unable to open video stream') self.bridge = CvBridge() - self.thermal_pub = rospy.Publisher('/flir_3_5_near_realsense_raw', Image, queue_size=100) + self.thermal_pub = rospy.Publisher(self.thermal_topic, Image, queue_size=100) self.timer = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.publish_image) self.timer_display = rospy.Timer(rospy.Duration(0, UPDATE_RATE), self.display_images)