def onSegmentTableScene():
data = segmentation.segmentTableScene(pointCloudObj.polyData, pickedPoint)
vis.showClusterObjects(data.clusters, parent='segmentation')
segmentation.showTable(data.table, parent='segmentation')
'robot state model',
view,
parent='sensors',
urdfFile=urdf_path,
color=roboturdf.getRobotGrayColor(),
visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
# Move robot to near to table:
robotStateJointController.q[5] = math.radians(120)
robotStateJointController.q[0] = -1.5
robotStateJointController.q[1] = 2
robotStateJointController.q[2] = 0.95
robotStateJointController.push()
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioutils.readPolyData(
os.path.join(dataDir, 'misc/tabletop/table-and-bin-scene.vtp'))
vis.showPolyData(polyData, 'pointcloud snapshot')
p1 = [-1.58661389, 2.91242337, 0.79958105]
data = segmentation.segmentTableScene(polyData, p1)
vis.showClusterObjects(data.clusters, parent='segmentation')
segmentation.showTable(data.table, parent='segmentation')
if app.getTestingInteractiveEnabled():
view.show()
app.showObjectModel()
app.start()
def onSegmentTableScene():
data = segmentation.segmentTableScene(pointCloudObj.polyData,
pickedPoint)
vis.showClusterObjects(data.clusters, parent='segmentation')
segmentation.showTable(data.table, parent='segmentation')
# create a view
view = app.createView()
segmentation._defaultSegmentationView = view
segmentation.initAffordanceManager(view)
robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, parent='sensors', color=roboturdf.getRobotGrayColor(), visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)
# Move robot to near to table:
robotStateJointController.q [5] = math.radians(120)
robotStateJointController.q[0] = -1.5
robotStateJointController.q[1] = 2
robotStateJointController.q[2] = 0.95
robotStateJointController.push()
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioUtils.readPolyData(os.path.join(dataDir, 'tabletop/table-and-bin-scene.vtp'))
vis.showPolyData(polyData, 'pointcloud snapshot')
p1 = [-1.58661389, 2.91242337, 0.79958105]
data = segmentation.segmentTableScene(polyData, p1)
vis.showClusterObjects(data.clusters, parent='segmentation')
segmentation.showTable(data.table, parent='segmentation')
if app.getTestingInteractiveEnabled():
view.show()
app.showObjectModel()
app.start()
