hiob_gui.py

import logging

import transitions
import sys, os

hiob_path = os.path.join(os.path.dirname(__file__))
sys.path.append( hiob_path )

from core.Configurator import Configurator
from core.app import App
from core.argparser import parser

# Set up logging
logging.getLogger().setLevel(logging.INFO)
transitions.logger.setLevel(logging.WARN)

logger = logging.getLogger(__name__)


def main():
    # parse arguments:
    logger.info("Parsing command line arguments")
    parser.prog = "hiob_gui"
    args = parser.parse_args()

    # create Configurator
    logger.info("Creating configurator object")
    ros_config = None
    if args.ros_publish is not None or args.ros_subscribe is not None:
        ros_config = {'subscribe': args.ros_subscribe, 'publish': args.ros_publish}
    conf = Configurator(
        hiob_path=hiob_path,
        environment_path=args.environment,
        tracker_path=args.tracker,
        ros_config=ros_config
    )

    # enable or disable se, depending on arg given
    conf.tracker["scale_estimator"]["use_scale_estimation"] = args.use_se

    # execute app app and run tracking
    logger.info("Initiate tracking process in app app")
    app = App(logger, conf)
    app.run()


if __name__ == '__main__':
    main()