Python get_polyline Examples

Example #1

File: lookup_and_execute_rope3.py Project: ankush-me/python

def human_get_rope():
    point_cloud = rospy.wait_for_message("/camera/depth_registered/points", sm.PointCloud2)
    
    xyz, bgr = ros_utils.pc2xyzrgb(point_cloud)
    
    xys = roi.get_polyline(bgr,'draw curve')
    uvs = np.int32(xys)[:,::-1]
    us,vs = uvs.T
    xyzs = xyz[us,vs]
    xyzs_good = xyzs[np.isfinite(xyzs).all(axis=1)]
    print "%i out of %i labeled points are good"%(len(xyzs_good), len(xyzs))
    xyzs_unif = curves.unif_resample(xyzs_good,100,tol=.002)
    return xyzs_unif

Example #2

def human_get_rope():
    point_cloud = rospy.wait_for_message("/camera/depth_registered/points",
                                         sm.PointCloud2)

    xyz, bgr = ros_utils.pc2xyzrgb(point_cloud)

    xys = roi.get_polyline(bgr, 'draw curve')
    uvs = np.int32(xys)[:, ::-1]
    us, vs = uvs.T
    xyzs = xyz[us, vs]
    xyzs_good = xyzs[np.isfinite(xyzs).all(axis=1)]
    print "%i out of %i labeled points are good" % (len(xyzs_good), len(xyzs))
    xyzs_unif = curves.unif_resample(xyzs_good, 100, tol=.002)
    return xyzs_unif

Example #3

import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--table_corners')
parser.add_argument("outfile")
args = parser.parse_args()

assert os.path.exists(os.path.dirname(args.outfile))


table_corners = np.loadtxt(args.table_corners)

dx_table = table_corners[1] - table_corners[0]
dy_table = table_corners[3] - table_corners[0]
z = table_corners[0,2]

nrows = 300
length_per_pix = norm(dx_table) / nrows
ncols = norm(dy_table) / length_per_pix


img = np.zeros((nrows, ncols),'uint8')+255

nout = 100

poly = roi.get_polyline(img,"curves")
curve = curves.unif_resample(poly,nout,tol=0)

curve3d = (table_corners[0]+np.r_[0,0,.03])[None,:] + np.c_[curve * length_per_pix, np.zeros((nout,1))]
print curve3d
np.savetxt(args.outfile,curve3d,fmt="%.3f")

Example #4

File: make_curve.py Project: ankush-me/python

#!/usr/bin/env python
from jds_image_proc import interactive_roi as roi
import os,cv2
from os.path import dirname, abspath,join
from jds_image_proc import curves, pcd_io
import numpy as np

import argparse
parser = argparse.ArgumentParser()
parser.add_argument('pcdfile')
parser.add_argument('outfile')
args = parser.parse_args()

xyz,bgr = pcd_io.load_xyzrgb(args.pcdfile)
print xyz.shape, bgr.shape

cv2.namedWindow('draw curve',cv2.cv.CV_WINDOW_NORMAL)
xys = roi.get_polyline(bgr,'draw curve')
uvs = np.int32(xys)[:,::-1]
us,vs = uvs.T
xyzs = xyz[us,vs]
xyzs_good = xyzs[np.isfinite(xyzs).all(axis=1)]
print "%i out of %i labeled points are good"%(len(xyzs_good), len(xyzs))
xyzs_unif = curves.unif_resample(xyzs_good,100,tol=.002)


#if bool(args.outfile) and not os.path.exists(dirname(args.outfile)): os.mkdir(dirname(args.outfile))
print "writing",args.outfile
np.savetxt(args.outfile,xyzs_unif)

Example #5

File: make_curve.py Project: warriorarmentaix/lfd

#!/usr/bin/env python
from jds_image_proc import interactive_roi as roi
import os, cv2
from os.path import dirname, abspath, join
from jds_image_proc import curves, pcd_io
import numpy as np

import argparse

parser = argparse.ArgumentParser()
parser.add_argument('pcdfile')
parser.add_argument('outfile')
args = parser.parse_args()

xyz, bgr = pcd_io.load_xyzrgb(args.pcdfile)
print xyz.shape, bgr.shape

cv2.namedWindow('draw curve', cv2.cv.CV_WINDOW_NORMAL)
xys = roi.get_polyline(bgr, 'draw curve')
uvs = np.int32(xys)[:, ::-1]
us, vs = uvs.T
xyzs = xyz[us, vs]
xyzs_good = xyzs[np.isfinite(xyzs).all(axis=1)]
print "%i out of %i labeled points are good" % (len(xyzs_good), len(xyzs))
xyzs_unif = curves.unif_resample(xyzs_good, 100, tol=.002)

#if bool(args.outfile) and not os.path.exists(dirname(args.outfile)): os.mkdir(dirname(args.outfile))
print "writing", args.outfile
np.savetxt(args.outfile, xyzs_unif)