NorthernBites的综合机器人交互软件包TOOL___下载.zip

Our learning system. For now this module is responsible for the maintenance of KEY.KEY files associated with any given frame directory. The KEY.KEY files use Google's Protocol Buffer system for serialized data. See: http://code.google.com/apis/protocolbuffers/docs/overview.html for more details. The protocol buffer itself is setup in TOOL/Data/Classify.proto and is used to generate TOOL/Data/Classification.java automatically. That file is where all of the code to interface with the file lives. When we are in the learning system we listen for data events. There are two kinds that we care about: when a new data set is selected and when a new frame is selected. When a new data set is selected we look in the set's directory for a file called "KEY.KEY". If the file exists then we read it into our data structure (provided by Classification.java). If it doesn't then we fill our data structure in with default records. When a new frame is called we check our data structure. One of the fields in the file specifies whether a human has approved the frame contents or not. If that field is set to true, then we use the data in the data structure to set the GUI to reflect the contents of the data structure. A human can still edit the contents if they want. If that field is set to false, then we instead default to using the vision system to set the basic contents of the frame. This will hopefully allow for faster data entry when we are editting. Another way to speed editting is the "Use Last" button which will fill in the data from the last frame. This is often useful because in many sets there isn't much change in the data from frame to frame. Once you are done editting you can hit the "Write" button and it will write the contents of the data structure out to the KEY.KEY file. Note that this is the only way to write out this information. We can also run batch jobs now. Either on a single set of data or on an entire master directory. When running batch jobs you can set up logging information to print by clicking on the appropriate check boxes (e.g. if you want all the files listed with false balls then click the "false balls" check box). When running in batch the system will check for the appropriate key files. It will only process frames for which there is a key file and and also that the key file has human editting set for that particular frame.