def main():
rospy.init_node('UpdateURDF')
dashboard_client = DashboardClient()
fixed_bb_offset_path = os.path.join(roslib.packages.get_pkg_dir("arm_fiducial_cal"), "calib/fixed_offset.txt")
print 'Reading %s' % fixed_bb_offset_path
with open(fixed_bb_offset_path) as f:
x, y, z, qw, qx, qy, qz = [float(x) for x in f.readline().split()]
print x, y, z, qw, qx, qy, qz
bb_left_neck_tf = Transform()
bb_left_neck_tf.translation.x = x
bb_left_neck_tf.translation.y = y
bb_left_neck_tf.translation.z = z
bb_left_neck_tf.rotation.w = qw
bb_left_neck_tf.rotation.x = qx
bb_left_neck_tf.rotation.y = qy
bb_left_neck_tf.rotation.z = qz
# write out the resulting cal file to the urdf
urdf_path = os.path.join(roslib.packages.get_pkg_dir("arm_robot_model"), "models/sensorsValues.urdf.xacro")
print 'Updating URDF in %s' % urdf_path
update_sensors_values_urdf(urdf_path, bb_left_neck_tf, None, None, None)
opt = FCOptimizer(frames, params.tf_target_points, est_base_H_target, est_cam_H_neck, fix_target_transform=True,
W=np.diag([1.0, 1.0, 10.0]))
new_est_base_H_target, new_est_cam_H_neck = opt.optimize()
opt.print_stats()
print np.dot(linalg.inv(new_est_cam_H_neck), est_cam_H_neck)
true_color = (1.0, 0.0, 1.0, 1.0)
initial_color = (0.0, 1.0, 1.0, 1.0)
estimated_color = (1.0, 1.0, 0.0, 1.0)
fcviz.draw_frames(upright_frames, est_cam_H_neck, 'new_initial_camera_poses', initial_color, cam_mark_lines=False)
fcviz.draw_target(est_base_H_target, 'estimated_target_pose', true_color)
fcviz.draw_frames(upright_frames, new_est_cam_H_neck, 'new_estimated_head_poses', estimated_color, cam_mark_lines=False)
# write out the resulting cal file to a urdf
urdf_path = os.path.join(
roslib.packages.get_pkg_dir("arm_robot_model"), "models/sensorsValues.urdf.xacro")
print 'Cal Successful! Writing result to URDF to %s' % urdf_path
bb_left_neck_tf = ros_util.matrix_to_transform(linalg.inv(new_est_cam_H_neck))
update_sensors_values_urdf(urdf_path, bb_left_neck_tf, None, None, None)
while not rospy.is_shutdown():
fcviz.update()
rospy.sleep(0.1)
