def set_compressed_image(self, compressed_path, add=True):
'''
Loads an image as the target object in compressed form. The compressing
robot arm is assumed to also be in the image, so areas with the same
color as it will be ignored. Thus, the compressed object should have
a different color from the arm.
Args:
compressed_path: file path to arm object image.
add: boolean denoting whether to add the compressed image to the
list of images, or to create a new list starting with the
current image.
force: amount of force used to achieve the object compresssion
in the image (in Newtons).
Returns:
True if image was loaded and segmented successfully;
false otherwise.
'''
if compressed_path is None:
return False
if os.path.isdir(compressed_path):
for file in sorted(os.listdir(compressed_path)):
if file.endswith(".png") or file.endswith(".jpg"):
self.set_compressed_image(compressed_path + file)
new_obj = SegmentedObject(self.bg_path, compressed_path)
if not self._color_low is None and not self._color_high is None:
new_obj.set_ignore_color(self._color_low, self._color_high)
if add:
self.compress_obj.append(new_obj)
#self.compress_force.append(force)
else:
self.compress_obj = [new_obj]
#self.compress_force = [force]
return True
def set_compressed_image(self, compressed_path, add=True):
'''
Loads an image as the target object in compressed form. The compressing
robot arm is assumed to also be in the image, so areas with the same
color as it will be ignored. Thus, the compressed object should have
a different color from the arm.
Args:
compressed_path: file path to arm object image.
add: boolean denoting whether to add the compressed image to the
list of images, or to create a new list starting with the
current image.
force: amount of force used to achieve the object compresssion
in the image (in Newtons).
Returns:
True if image was loaded and segmented successfully;
false otherwise.
'''
if compressed_path is None:
return False
if os.path.isdir(compressed_path):
for file in sorted(os.listdir(compressed_path)):
if file.endswith(".png") or file.endswith(".jpg"):
self.set_compressed_image(compressed_path + file)
new_obj = SegmentedObject(self.bg_path, compressed_path)
if not self._color_low is None and not self._color_high is None:
new_obj.set_ignore_color(self._color_low, self._color_high)
if add:
self.compress_obj.append(new_obj)
#self.compress_force.append(force)
else:
self.compress_obj = [new_obj]
#self.compress_force = [force]
return True
