capture_data.py

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#! /usr/bin/env python
#
# Copyright (c) 2010, Georgia Tech Research Corporation
# All rights reserved.
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#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
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# THIS SOFTWARE IS PROVIDED BY GEORGIA TECH RESEARCH CORPORATION ''AS IS'' AND
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#  \author Martin Schuster (Healthcare Robotics Lab, Georgia Tech.)
        
import scanner  
import Processor
import configuration    
import hrl_lib.util as ut  
        
# Import Psyco if available
#try:
#    import psyco
#    psyco.full()
#    print "Psyco loaded"
#except ImportError:
#    pass

#from labeling import label_object, scan_dataset, scans_database
#database = scans_database.scans_database()
#database.load('/home/martin/robot1_data/usr/martin/laser_camera_segmentation/labeling','database.pkl')
#dataset = scan_dataset.scan_dataset()
#print dataset

cfg = configuration.configuration('/home/martin/robot1_data/usr/martin/laser_camera_segmentation/labeling')
sc = scanner.scanner(cfg)
pc = Processor.Processor(cfg)

name = ut.formatted_time()
name='2009Oct17_122644'
#sc.capture_and_save(name)
pc.load_data(name)

#pc.load_raw_data('pill_table/2009Sep12_142422')
pc.process_raw_data()
pc.save_mapped_image(name)
pc.display_all_data()
print 'done'