def free_spots_on_table(table, obj, orientation, blocking_objs, res=0.1):
object_pose = Pose()
object_pose.orientation = orientation
#these are the corners of the object in the object's frame
object_frame_corners = gt.bounding_box_corners(obj.shapes[0])
#rospy.loginfo('Corners are')
#for c in object_frame_corners: rospy.loginfo(str(c))
#these are the corners after we apply the rotation
header_frame_corners = [gt.transform_list(c, object_pose) for c in object_frame_corners]
#these are the corners relative to the table's lower left corner
table_frame_corners = [gt.inverse_transform_list(c, table.poses[0]) for c in header_frame_corners]
#the footprint of the object above the table
oxmax = max([c[0] for c in table_frame_corners])
oxmin = min([c[0] for c in table_frame_corners])
oymax = max([c[1] for c in table_frame_corners])
oymin = min([c[1] for c in table_frame_corners])
object_dims = (oxmax - oxmin, oymax - oymin)
rospy.loginfo('Object dimensions are '+str(object_dims))
obj_poses = free_spots_from_dimensions(table, object_dims, blocking_objs, res=res)
#return these as proper object poses with the object sitting on the table
#the height of the object in the world in its place orientation
obj_height = -1.0*min([c[2] for c in header_frame_corners])
above_table = gt.transform_list([0, 0, obj_height], table.poses[0])
place_height = above_table[2]
for pose in obj_poses:
pose.pose.position.z = place_height
pose.pose.orientation = copy.copy(orientation)
return obj_poses
def free_spots_from_dimensions(table, object_dims, blocking_objs, res=0.1):
'''
Currently works only with a single shape
Assumes table is in xy plane
'''
#find the lower left corner of the table in the header frame
#we want everything relative to this point
table_corners = gt.bounding_box_corners(table.shapes[0])
lower_left = Pose()
lower_left.position = gt.list_to_point(table_corners[0])
lower_left.orientation.w = 1.0
#rospy.loginfo('Table corners are:')
#for c in table_corners: rospy.loginfo('\n'+str(c))
#rospy.loginfo('Lower left =\n'+str(lower_left))
#rospy.loginfo('Table header =\n'+str(table.header))
#rospy.loginfo('Table pose =\n'+str(table.poses[0]))
#this is the position of the minimum x, minimum y point in the table's header frame
table_box_origin = gt.transform_pose(lower_left, table.poses[0])
tr = gt.inverse_transform_list(gt.transform_list(table_corners[-1], table.poses[0]), table_box_origin)
table_dims = (tr[0], tr[1])
tbos = PoseStamped()
tbos.header = table.header
tbos.pose = table_box_origin
marray.markers.append(vt.marker_at(tbos, ns='table_origin', mtype=Marker.CUBE, r=1.0))
max_box = PointStamped()
max_box.header = table.header
max_box.point = gt.list_to_point(gt.transform_list([table_dims[0], table_dims[1], 0], table_box_origin))
marray.markers.append(vt.marker_at_point(max_box, ns='table_max', mtype=Marker.CUBE, r=1.0))
#rospy.loginfo('Table box origin is '+str(table_box_origin)+' dimensions are '+str(table_dims))
locs_on_table = _get_feasible_locs(table_dims, object_dims, res)
for i, l in enumerate(locs_on_table):
pt = Point()
pt.x = l[0]
pt.y = l[1]
mpt = PointStamped()
mpt.header = table.header
mpt.point = gt.transform_point(pt, table_box_origin)
marray.markers.append(vt.marker_at_point(mpt, mid=i, ns='locations', r=1.0, g=1.0, b=0.0))
feasible_locs = []
#check that these points really are on the table
for i, l in enumerate(locs_on_table):
pt = Point()
pt.x = l[0]
pt.y = l[1]
#this point is now defined relative to the origin of the table (rather than its minimum x, minimum y point)
table_pt = gt.inverse_transform_point(gt.transform_point(pt, table_box_origin), table.poses[0])
if point_on_table(table_pt, table.shapes[0]):
feasible_locs.append(l)
marray.markers[i+2].color.r = 0.0
marray.markers[i+2].color.b = 1.0
rospy.loginfo('Testing '+str(len(feasible_locs))+' locations')
if not feasible_locs:
return feasible_locs
forbidden=[]
for i, o in enumerate(blocking_objs):
ofcs = gt.bounding_box_corners(o.shapes[0])
objpose = tl.transform_pose(table.header.frame_id, o.header.frame_id, o.poses[0])
hfcs = [gt.transform_list(c, objpose) for c in ofcs]
tfcs = [gt.inverse_transform_list(c, table_box_origin) for c in hfcs]
oxmax = max([c[0] for c in tfcs])
oxmin = min([c[0] for c in tfcs])
oymax = max([c[1] for c in tfcs])
oymin = min([c[1] for c in tfcs])
forbidden.append(((oxmin, oymin), (oxmax - oxmin, oymax - oymin)))
#rospy.loginfo('\n'+str(forbidden[-1]))
ps = PoseStamped()
ps.header = table.header
ps.pose = objpose
ps = PoseStamped()
ps.header = table.header
ps.pose.position = gt.list_to_point(gt.transform_list([oxmin, oymin, 0], table_box_origin))
ps.pose.orientation.w = 1.0
marray.markers.append(vt.marker_at(ps, ns='forbidden', mid=i, r=1.0, b=0.0))
# Remove forbidden rectangles
for (bottom_left, dims) in forbidden:
_remove_feasible_locs(feasible_locs, object_dims,
bottom_left,
_add(bottom_left, dims),
res)
rospy.loginfo('There are '+str(len(feasible_locs))+' possible locations')
obj_poses = []
for i, fl in enumerate(feasible_locs):
table_frame_pose = Pose()
table_frame_pose.position.x = fl[0] + object_dims[0]/2.0
table_frame_pose.position.y = fl[1] + object_dims[1]/2.0
table_frame_pose.orientation.w = 1.0
pose = PoseStamped()
pose.header = copy.deepcopy(table.header)
pose.pose = gt.transform_pose(table_frame_pose, table_box_origin)
obj_poses.append(pose)
pt = PointStamped()
pt.header = table.header
pt.point = pose.pose.position
marray.markers.append(vt.marker_at_point(pt, mid=i, ns='final_locations', g=1.0, b=0.0))
#rospy.loginfo('Object poses are:')
#for op in obj_poses: rospy.loginfo(str(op))
for i in range(10):
vpub.publish(marray)
rospy.sleep(0.1)
return obj_poses
