def setRegion(self, safe_region):
debug = DebugData()
pos = safe_region.point
try:
xy_verts = safe_region.xy_polytope()
if xy_verts.shape[1] == 0:
raise QhullError("No points returned")
xyz_verts = np.vstack((xy_verts, pos[2] + 0.02 + np.zeros((1, xy_verts.shape[1]))))
xyz_verts = np.hstack((xyz_verts, np.vstack((xy_verts, pos[2] + 0.015 + np.zeros((1, xy_verts.shape[1]))))))
# print xyz_verts.shape
polyData = vnp.getVtkPolyDataFromNumpyPoints(xyz_verts.T.copy())
vol_mesh = filterUtils.computeDelaunay3D(polyData)
for j in range(xy_verts.shape[1]):
z = pos[2] + 0.005
p1 = np.hstack((xy_verts[:,j], z))
if j < xy_verts.shape[1] - 1:
p2 = np.hstack((xy_verts[:,j+1], z))
else:
p2 = np.hstack((xy_verts[:,0], z))
debug.addLine(p1, p2, color=[.7,.7,.7], radius=0.003)
debug.addPolyData(vol_mesh)
# self.setPolyData(vol_mesh)
self.setPolyData(debug.getPolyData())
self.safe_region = safe_region
except QhullError:
print "Could not generate convex hull (polytope is likely unbounded)."
def setRegion(self, safe_region):
debug = DebugData()
pos = safe_region.point
try:
xy_verts = safe_region.xy_polytope()
if xy_verts.shape[1] == 0:
raise QhullError("No points returned")
xyz_verts = np.vstack((xy_verts, pos[2] + 0.02 + np.zeros(
(1, xy_verts.shape[1]))))
xyz_verts = np.hstack((xyz_verts,
np.vstack(
(xy_verts, pos[2] + 0.015 + np.zeros(
(1, xy_verts.shape[1]))))))
# print xyz_verts.shape
polyData = vnp.getVtkPolyDataFromNumpyPoints(xyz_verts.T.copy())
vol_mesh = filterUtils.computeDelaunay3D(polyData)
for j in range(xy_verts.shape[1]):
z = pos[2] + 0.005
p1 = np.hstack((xy_verts[:, j], z))
if j < xy_verts.shape[1] - 1:
p2 = np.hstack((xy_verts[:, j + 1], z))
else:
p2 = np.hstack((xy_verts[:, 0], z))
debug.addLine(p1, p2, color=[.7, .7, .7], radius=0.003)
debug.addPolyData(vol_mesh)
# self.setPolyData(vol_mesh)
self.setPolyData(debug.getPolyData())
self.safe_region = safe_region
except QhullError:
print(
"Could not generate convex hull (polytope is likely unbounded)."
)
def drawContactVolumes(self, footstepTransform, color):
volFolder = getWalkingVolumesFolder()
for zs, xy in self.contact_slices.iteritems():
points0 = np.vstack((xy, zs[0] + np.zeros((1,xy.shape[1]))))
points1 = np.vstack((xy, zs[1] + np.zeros((1,xy.shape[1]))))
points = np.hstack((points0, points1))
points = points + np.array([[0.05],[0],[-0.0811]])
points = points.T
polyData = vnp.getVtkPolyDataFromNumpyPoints(points.copy())
vol_mesh = filterUtils.computeDelaunay3D(polyData)
obj = vis.showPolyData(vol_mesh, 'walking volume', parent=volFolder, alpha=0.5, visible=self.show_contact_slices, color=color)
obj.actor.SetUserTransform(footstepTransform)
def update(self, snapshot=False):
"""
Visualizes the pointclouds set to true. This should be called from the main thread
:return:
:rtype:
"""
for topic, data in self._subscribers.iteritems():
if not data['visualize']:
continue
msg = data['subscriber'].lastMsg
if msg is None:
continue
# get frame
# TransformStamped
# this might need to be called in thread
try:
T_W_pointcloud_stamped = self._tf_buffer.lookup_transform(
self._expressed_in_frame, msg.header.frame_id,
msg.header.stamp)
except:
continue
T_W_pointcloud = ros_numpy.numpify(
T_W_pointcloud_stamped.transform)
T_W_pointcloud_vtk = transformUtils.getTransformFromNumpy(
T_W_pointcloud)
pointcloud_numpy = DirectorROSVisualizer.numpy_from_pointcloud2_msg(
msg)
pointcloud_vtk = vnp.getVtkPolyDataFromNumpyPoints(
pointcloud_numpy)
pointcloud_vtk = filterUtils.transformPolyData(
pointcloud_vtk, T_W_pointcloud_vtk)
data['pointcloud'] = pointcloud_vtk
if snapshot:
name = data["name"] + " snapshot"
vis.showPolyData(pointcloud_vtk,
name,
parent=self._vis_container)
else:
vis.updatePolyData(pointcloud_vtk,
data['name'],
parent=self._vis_container)
def fitRunningBoardAtFeet(self):
# get stance frame
startPose = self.getPlanningStartPose()
stanceFrame = self.robotSystem.footstepsDriver.getFeetMidPoint(
self.robotSystem.robotStateModel, useWorldZ=False)
stanceFrameAxes = transformUtils.getAxesFromTransform(stanceFrame)
# get pointcloud and extract search region covering the running board
polyData = segmentation.getCurrentRevolutionData()
polyData = segmentation.applyVoxelGrid(polyData, leafSize=0.01)
_, polyData = segmentation.removeGround(polyData)
polyData = segmentation.cropToBox(polyData, stanceFrame,
[1.0, 1.0, 0.1])
if not polyData.GetNumberOfPoints():
print('empty search region point cloud')
return
vis.updatePolyData(polyData,
'running board search points',
parent=segmentation.getDebugFolder(),
color=[0, 1, 0],
visible=False)
# extract maximal points along the stance x axis
perpAxis = stanceFrameAxes[0]
edgeAxis = stanceFrameAxes[1]
edgePoints = segmentation.computeEdge(polyData, edgeAxis, perpAxis)
edgePoints = vnp.getVtkPolyDataFromNumpyPoints(edgePoints)
vis.updatePolyData(edgePoints,
'edge points',
parent=segmentation.getDebugFolder(),
visible=True)
# ransac fit a line to the edge points
linePoint, lineDirection, fitPoints = segmentation.applyLineFit(
edgePoints)
if np.dot(lineDirection, stanceFrameAxes[1]) < 0:
lineDirection = -lineDirection
linePoints = segmentation.thresholdPoints(fitPoints, 'ransac_labels',
[1.0, 1.0])
dists = np.dot(
vnp.getNumpyFromVtk(linePoints, 'Points') - linePoint,
lineDirection)
p1 = linePoint + lineDirection * np.min(dists)
p2 = linePoint + lineDirection * np.max(dists)
vis.updatePolyData(fitPoints,
'line fit points',
parent=segmentation.getDebugFolder(),
colorByName='ransac_labels',
visible=False)
# compute a new frame that is in plane with the stance frame
# and matches the orientation and position of the detected edge
origin = np.array(stanceFrame.GetPosition())
normal = np.array(stanceFrameAxes[2])
# project stance origin to edge, then back to foot frame
originProjectedToEdge = linePoint + lineDirection * np.dot(
origin - linePoint, lineDirection)
originProjectedToPlane = segmentation.projectPointToPlane(
originProjectedToEdge, origin, normal)
zaxis = np.array(stanceFrameAxes[2])
yaxis = np.array(lineDirection)
xaxis = np.cross(yaxis, zaxis)
xaxis /= np.linalg.norm(xaxis)
yaxis = np.cross(zaxis, xaxis)
yaxis /= np.linalg.norm(yaxis)
d = DebugData()
d.addSphere(p1, radius=0.005)
d.addSphere(p2, radius=0.005)
d.addLine(p1, p2)
d.addSphere(originProjectedToEdge, radius=0.001, color=[1, 0, 0])
d.addSphere(originProjectedToPlane, radius=0.001, color=[0, 1, 0])
d.addLine(originProjectedToPlane, origin, color=[0, 1, 0])
d.addLine(originProjectedToEdge, origin, color=[1, 0, 0])
vis.updatePolyData(d.getPolyData(),
'running board edge',
parent=segmentation.getDebugFolder(),
colorByName='RGB255',
visible=False)
# update the running board box affordance position and orientation to
# fit the detected edge
box = self.spawnRunningBoardAffordance()
boxDimensions = box.getProperty('Dimensions')
t = transformUtils.getTransformFromAxesAndOrigin(
xaxis, yaxis, zaxis, originProjectedToPlane)
t.PreMultiply()
t.Translate(-boxDimensions[0] / 2.0, 0.0, -boxDimensions[2] / 2.0)
box.getChildFrame().copyFrame(t)
self.initialize()
def fitRunningBoardAtFeet(self):
# get stance frame
startPose = self.getPlanningStartPose()
stanceFrame = self.robotSystem.footstepsDriver.getFeetMidPoint(self.robotSystem.robotStateModel, useWorldZ=False)
stanceFrameAxes = transformUtils.getAxesFromTransform(stanceFrame)
# get pointcloud and extract search region covering the running board
polyData = segmentation.getCurrentRevolutionData()
polyData = segmentation.applyVoxelGrid(polyData, leafSize=0.01)
_, polyData = segmentation.removeGround(polyData)
polyData = segmentation.cropToBox(polyData, stanceFrame, [1.0, 1.0, 0.1])
if not polyData.GetNumberOfPoints():
print 'empty search region point cloud'
return
vis.updatePolyData(polyData, 'running board search points', parent=segmentation.getDebugFolder(), color=[0,1,0], visible=False)
# extract maximal points along the stance x axis
perpAxis = stanceFrameAxes[0]
edgeAxis = stanceFrameAxes[1]
edgePoints = segmentation.computeEdge(polyData, edgeAxis, perpAxis)
edgePoints = vnp.getVtkPolyDataFromNumpyPoints(edgePoints)
vis.updatePolyData(edgePoints, 'edge points', parent=segmentation.getDebugFolder(), visible=True)
# ransac fit a line to the edge points
linePoint, lineDirection, fitPoints = segmentation.applyLineFit(edgePoints)
if np.dot(lineDirection, stanceFrameAxes[1]) < 0:
lineDirection = -lineDirection
linePoints = segmentation.thresholdPoints(fitPoints, 'ransac_labels', [1.0, 1.0])
dists = np.dot(vnp.getNumpyFromVtk(linePoints, 'Points')-linePoint, lineDirection)
p1 = linePoint + lineDirection*np.min(dists)
p2 = linePoint + lineDirection*np.max(dists)
vis.updatePolyData(fitPoints, 'line fit points', parent=segmentation.getDebugFolder(), colorByName='ransac_labels', visible=False)
# compute a new frame that is in plane with the stance frame
# and matches the orientation and position of the detected edge
origin = np.array(stanceFrame.GetPosition())
normal = np.array(stanceFrameAxes[2])
# project stance origin to edge, then back to foot frame
originProjectedToEdge = linePoint + lineDirection*np.dot(origin - linePoint, lineDirection)
originProjectedToPlane = segmentation.projectPointToPlane(originProjectedToEdge, origin, normal)
zaxis = np.array(stanceFrameAxes[2])
yaxis = np.array(lineDirection)
xaxis = np.cross(yaxis, zaxis)
xaxis /= np.linalg.norm(xaxis)
yaxis = np.cross(zaxis, xaxis)
yaxis /= np.linalg.norm(yaxis)
d = DebugData()
d.addSphere(p1, radius=0.005)
d.addSphere(p2, radius=0.005)
d.addLine(p1, p2)
d.addSphere(originProjectedToEdge, radius=0.001, color=[1,0,0])
d.addSphere(originProjectedToPlane, radius=0.001, color=[0,1,0])
d.addLine(originProjectedToPlane, origin, color=[0,1,0])
d.addLine(originProjectedToEdge, origin, color=[1,0,0])
vis.updatePolyData(d.getPolyData(), 'running board edge', parent=segmentation.getDebugFolder(), colorByName='RGB255', visible=False)
# update the running board box affordance position and orientation to
# fit the detected edge
box = self.spawnRunningBoardAffordance()
boxDimensions = box.getProperty('Dimensions')
t = transformUtils.getTransformFromAxesAndOrigin(xaxis, yaxis, zaxis, originProjectedToPlane)
t.PreMultiply()
t.Translate(-boxDimensions[0]/2.0, 0.0, -boxDimensions[2]/2.0)
box.getChildFrame().copyFrame(t)
self.initialize()
