def make_human_rope_pipeline(downsample=5, init_period=0):
if init_period == 0: init_period = 9999
P = Pipeline()
P.add_topic("kinect")
P.add_topic("rope_pts")
P.add_topic("rope_init",dont_clean=True)
P.add_topic("rope_model")
P.add_file("once/table_corners.txt")
P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"])
P.add_program("initializer", "loop_initialize_rope_lite.py rope_pts rope_init %.2f"%init_period,["rope_pts"],["rope_init"])
P.add_program("rope_preproc", "comm_rope_preproc", ["kinect","once/table_corners.txt"], ["rope_pts"])
P.add_program("track_rope", "track_rope --scale=10 --kp=.1 --kd=0 --outlierParam=.2 --showEst=0 --showObs=1 --showKinect=1", ["kinect","rope_init","rope_pts","once/table_corners.txt"], ["rope_model"])
P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"])
P.env = os.environ
return P
def make_human_rope_pipeline(downsample=5, init_period=0):
if init_period == 0: init_period = 9999
P = Pipeline()
P.add_topic("kinect")
P.add_topic("rope_pts")
P.add_topic("rope_init", dont_clean=True)
P.add_topic("rope_model")
P.add_file("once/table_corners.txt")
P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample,
[], ["kinect"])
P.add_program(
"initializer",
"loop_initialize_rope_lite.py rope_pts rope_init %.2f" % init_period,
["rope_pts"], ["rope_init"])
P.add_program("rope_preproc", "comm_rope_preproc",
["kinect", "once/table_corners.txt"], ["rope_pts"])
P.add_program(
"track_rope",
"track_rope --scale=10 --kp=.1 --kd=0 --outlierParam=.2 --showEst=0 --showObs=1 --showKinect=1",
["kinect", "rope_init", "rope_pts", "once/table_corners.txt"],
["rope_model"])
P.add_program("get_table", "comm_get_table", ["kinect"],
["once/table_corners.txt"])
P.env = os.environ
return P
def make_towel_pipeline(downsample=10):
P = Pipeline()
P.add_topic("kinect")
P.add_topic("towel_pts")
P.add_file("once/table_corners.txt")
P.add_topic("towel_model")
P.add_program("get_table", "comm_get_table", ["kinect"],["once/table_corners.txt"])
P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"])
P.add_program("towel_preproc", "comm_towel_preproc", ["kinect","once/table_corners.txt"], ["towel_pts"])
P.add_program("towel_tracker", "comm_track_towel --kp=200 --kd=0 --gravity=0", ["kinect", "once/table_corners.txt", "towel_pts"], ["towel_model"])
P.env = os.environ
return P
def make_towel_pipeline(downsample=10):
P = Pipeline()
P.add_topic("kinect")
P.add_topic("towel_pts")
P.add_file("once/table_corners.txt")
P.add_topic("towel_model")
P.add_program("get_table", "comm_get_table", ["kinect"],
["once/table_corners.txt"])
P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample,
[], ["kinect"])
P.add_program("towel_preproc", "comm_towel_preproc",
["kinect", "once/table_corners.txt"], ["towel_pts"])
P.add_program("towel_tracker",
"comm_track_towel --kp=200 --kd=0 --gravity=0",
["kinect", "once/table_corners.txt", "towel_pts"],
["towel_model"])
P.env = os.environ
return P
def make_robot_rope_pipeline(classifier, downsample=5, init_period=0):
if init_period == 0: init_period = 9999
P = Pipeline()
P.add_topic("kinect")
P.add_topic("labels")
P.add_topic("images")
P.add_topic("rope_pts")
P.add_topic("rope_init", dont_clean=True)
P.add_topic("rope_model")
P.add_topic("joint_states", async=True)
P.add_file("once/table_corners.txt")
P.add_file("once/roi_mask.png")
P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample,
[], ["kinect"])
P.add_program("pcd2bmp", "comm_pcd2bmp.py kinect images", ["kinect"],
["images"])
P.add_program(
"apply_classifier",
"comm_apply_classifier_par.py images labels %s --procs=3 --mask=once/roi_mask.png"
% classifier, ["images", "once/roi_mask.png"], ["labels"])
#P.add_program("apply_classifier", "comm_apply_classifier.py images labels %s --mask=once/roi_mask.png"%classifier, ["images","once/roi_mask.png"], ["labels"])
P.add_program(
"downsampler",
"comm_downsample_clouds -c kinect -l labels -n 1 2 -o rope_pts",
["kinect", "labels"], ["rope_pts"])
P.add_program(
"initializer",
"loop_initialize_rope_lite.py kinect labels rope_init %.2f" %
init_period, ["kinect", "labels"], ["rope_init"])
P.add_program(
"track_rope_with_robot",
"track_rope_with_robot --kp=1 --kd=0 --showEst=0 --showObs=0 --showKinect=1",
[
"kinect", "labels", "rope_init", "rope_pts", "joint_states",
"once/table_corners.txt"
], ["rope_model"])
P.add_program(
"make_roi",
"make_roi.py -i images/data000000000000.bmp -o once/roi_mask.png",
["images"], ["once/roi_mask.png"])
P.add_program("get_table", "comm_get_table", ["kinect"],
["once/table_corners.txt"])
P.add_program(
"write_joints",
"publish_ros_topic.py /joint_states --out joint_states -d 5", [],
["joint_states"])
P.env = os.environ
return P
def make_vision_pipeline(downsample, classifier, init_period=0):
if init_period == 0: init_period = 9999
P = Pipeline()
P.add_topic("kinect")
P.add_topic("labels")
P.add_topic("images")
P.add_topic("rope_pts")
P.add_topic("towel_pts")
P.add_topic("rope_init", dont_clean=True)
P.add_topic("rope_model")
P.add_topic("towel_model")
P.add_file("once/table_corners.txt")
P.add_file("once/roi_mask.png")
P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample,
[], ["kinect"])
P.add_program("pcd2bmp", "comm_pcd2bmp.py kinect images", ["kinect"],
["images"])
P.add_program(
"apply_classifier",
"comm_apply_classifier_par.py images labels %s --procs=3 --mask=once/roi_mask.png"
% classifier, ["images", "once/roi_mask.png"], ["labels"])
P.add_program(
"rope_downsampler",
"comm_downsample_clouds -c kinect -l labels -n 1 2 -o rope_pts",
["kinect", "labels"], ["rope_pts"])
P.add_program(
"towel_downsampler",
"comm_downsample_clouds -c kinect -l labels -n 1 -o towel_pts -v .025",
["kinect", "labels"], ["towel_pts"])
P.add_program(
"rope_initializer",
"loop_initialize_rope_lite.py kinect labels rope_init %.2f" %
init_period, ["kinect", "labels"], ["rope_init"])
P.add_program(
"track_human_rope",
"test_new_tracking2 --kp=1 --kd=0 --showEst=0 --showObs=0 --showKinect=1",
[
"kinect", "labels", "rope_init", "rope_pts",
"once/table_corners.txt"
], ["rope_model"])
P.add_program(
"track_human_cloth",
"test_new_towel_tracking --objType=towel --kp=300 --kd=20 --gravity=0 --towelRes=.5 --showEst=0 --showObs=0 --showLines=0 --showKinect=0 --towelStiffness=.1",
["kinect", "labels", "towel_pts", "once/table_corners.txt"],
["towel_model"])
P.add_program(
"make_roi",
"make_roi.py -i images/data000000000000.bmp -o once/roi_mask.png",
["images"], ["once/roi_mask.png"])
P.add_program("get_table", "comm_get_table", ["kinect"],
["once/table_corners.txt"])
P.env = os.environ
return P
def make_robot_rope_pipeline2(classifier, downsample=5, init_period=0):
if init_period == 0: init_period = 9999
P = Pipeline()
P.add_topic("kinect")
P.add_topic("rope_pts")
P.add_topic("rope_init", dont_clean=True)
P.add_topic("rope_model")
P.add_topic("joint_states", async=True)
P.add_topic("base_pose", async=True)
P.add_file("once/table_corners.txt")
P.add_file("once/transform.txt")
P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample,
[], ["kinect"])
P.add_program(
"initializer",
"loop_initialize_rope_lite.py rope_pts rope_init %.2f" % init_period,
["rope_pts"], ["rope_init"])
P.add_program("rope_preproc", "comm_rope_preproc",
["kinect", "once/table_corners.txt"], ["rope_pts"])
P.add_program(
"track_rope_with_robot",
"track_rope_with_robot --scale=10 --kp=1 --kd=0 --outlierParam=.25 --showEst=0 --showObs=0 --showKinect=1",
[
"kinect", "rope_init", "rope_pts", "joint_states",
"once/table_corners.txt", "once/transform.txt"
], ["rope_model"])
P.add_program("get_table", "comm_get_table", ["kinect"],
["once/table_corners.txt"])
P.add_program(
"write_joints",
"publish_ros_topic.py /joint_states --out joint_states -d 5", [],
["joint_states"])
P.add_program(
"write_base_pose",
"tf_to_comm.py /base_footprint /base_footprint base_pose --hz=25", [],
["base_pose"])
P.env = os.environ
return P
def make_robot_rope_pipeline2(classifier, downsample=5, init_period=0):
if init_period == 0: init_period = 9999
P = Pipeline()
P.add_topic("kinect")
P.add_topic("rope_pts")
P.add_topic("rope_init",dont_clean=True)
P.add_topic("rope_model")
P.add_topic("joint_states",async=True)
P.add_topic("base_pose", async=True)
P.add_file("once/table_corners.txt")
P.add_file("once/transform.txt")
P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"])
P.add_program("initializer", "loop_initialize_rope_lite.py rope_pts rope_init %.2f"%init_period,["rope_pts"],["rope_init"])
P.add_program("rope_preproc", "comm_rope_preproc", ["kinect","once/table_corners.txt"], ["rope_pts"])
P.add_program("track_rope_with_robot", "track_rope_with_robot --scale=10 --kp=1 --kd=0 --outlierParam=.25 --showEst=0 --showObs=0 --showKinect=1", ["kinect","rope_init","rope_pts","joint_states","once/table_corners.txt","once/transform.txt"], ["rope_model"])
P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"])
P.add_program("write_joints", "publish_ros_topic.py /joint_states --out joint_states -d 5", [], ["joint_states"])
P.add_program("write_base_pose", "tf_to_comm.py /base_footprint /base_footprint base_pose --hz=25", [], ["base_pose"])
P.env = os.environ
return P
def make_robot_rope_pipeline(classifier, downsample=5, init_period=0):
if init_period == 0: init_period = 9999
P = Pipeline()
P.add_topic("kinect")
P.add_topic("labels")
P.add_topic("images")
P.add_topic("rope_pts")
P.add_topic("rope_init",dont_clean=True)
P.add_topic("rope_model")
P.add_topic("joint_states",async=True)
P.add_file("once/table_corners.txt")
P.add_file("once/roi_mask.png")
P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"])
P.add_program("pcd2bmp", "comm_pcd2bmp.py kinect images", ["kinect"], ["images"])
P.add_program("apply_classifier", "comm_apply_classifier_par.py images labels %s --procs=3 --mask=once/roi_mask.png"%classifier, ["images","once/roi_mask.png"], ["labels"])
#P.add_program("apply_classifier", "comm_apply_classifier.py images labels %s --mask=once/roi_mask.png"%classifier, ["images","once/roi_mask.png"], ["labels"])
P.add_program("downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 2 -o rope_pts",["kinect","labels"],["rope_pts"])
P.add_program("initializer", "loop_initialize_rope_lite.py kinect labels rope_init %.2f"%init_period,["kinect","labels"],["rope_init"])
P.add_program("track_rope_with_robot", "track_rope_with_robot --kp=1 --kd=0 --showEst=0 --showObs=0 --showKinect=1", ["kinect","labels","rope_init","rope_pts","joint_states","once/table_corners.txt"], ["rope_model"])
P.add_program("make_roi", "make_roi.py -i images/data000000000000.bmp -o once/roi_mask.png", ["images"], ["once/roi_mask.png"])
P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"])
P.add_program("write_joints", "publish_ros_topic.py /joint_states --out joint_states -d 5", [], ["joint_states"])
P.env = os.environ
return P
def make_vision_pipeline(downsample, classifier, init_period=0):
if init_period == 0: init_period = 9999
P = Pipeline()
P.add_topic("kinect")
P.add_topic("labels")
P.add_topic("images")
P.add_topic("rope_pts")
P.add_topic("towel_pts")
P.add_topic("rope_init",dont_clean=True)
P.add_topic("rope_model")
P.add_topic("towel_model")
P.add_file("once/table_corners.txt")
P.add_file("once/roi_mask.png")
P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"])
P.add_program("pcd2bmp", "comm_pcd2bmp.py kinect images", ["kinect"], ["images"])
P.add_program("apply_classifier", "comm_apply_classifier_par.py images labels %s --procs=3 --mask=once/roi_mask.png"%classifier, ["images","once/roi_mask.png"], ["labels"])
P.add_program("rope_downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 2 -o rope_pts",["kinect","labels"],["rope_pts"])
P.add_program("towel_downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 -o towel_pts -v .025",["kinect","labels"],["towel_pts"])
P.add_program("rope_initializer", "loop_initialize_rope_lite.py kinect labels rope_init %.2f"%init_period,["kinect","labels"],["rope_init"])
P.add_program("track_human_rope", "test_new_tracking2 --kp=1 --kd=0 --showEst=0 --showObs=0 --showKinect=1", ["kinect","labels","rope_init","rope_pts","once/table_corners.txt"], ["rope_model"])
P.add_program("track_human_cloth", "test_new_towel_tracking --objType=towel --kp=300 --kd=20 --gravity=0 --towelRes=.5 --showEst=0 --showObs=0 --showLines=0 --showKinect=0 --towelStiffness=.1", ["kinect","labels","towel_pts","once/table_corners.txt"],["towel_model"])
P.add_program("make_roi", "make_roi.py -i images/data000000000000.bmp -o once/roi_mask.png", ["images"], ["once/roi_mask.png"])
P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"])
P.env = os.environ
return P
