def do_set_table_params(args): if args.manual_val: rospy.set_param("table_bounds", args.manual_val) else: pc = rospy.wait_for_message(args.input_cloud, sm.PointCloud2) pc_tf = ros_utils.transformPointCloud2(pc, pr2.tf_listener, "base_footprint", pc.header.frame_id) xyz,rgb = ros_utils.pc2xyzrgb(pc_tf) table_bounds = list(tabletop.get_table_dimensions(xyz)) rospy.set_param("table_height", float(table_bounds[-1])) table_bounds[-1] -= args.downshift table_bounds[-2] -= args.downshift print "table bounds", table_bounds rospy.set_param("table_bounds", " ".join([str(x) for x in table_bounds]))
def create_obstacle_env(env): clone=env.CloneSelf(1) point_cloud = rospy.wait_for_message("/drop/points", sm.PointCloud2) xyz, bgr = ros_utils.pc2xyzrgb(point_cloud) xyz = ros_utils.transform_points(xyz, Globals.pr2.tf_listener, "base_footprint", point_cloud.header.frame_id) #xyz = xyz[250:, 250:] clusters = tabletop.segment_tabletop_scene(xyz,'base_footprint') bounds = tabletop.get_table_dimensions(xyz) kinbodies.create_box_from_bounds(clone,bounds,"table") print len(clusters),"clusters" for (i_clu,clu) in enumerate(clusters): x,y,z,r,h = tabletop.get_cylinder(clu) #print kinbodies.create_cylinder(clone, (x,y,z),r,h, name="cylinder%i"%i_clu) return clone
def do_set_table_params(args): if args.manual_val: rospy.set_param("table_bounds", args.manual_val) else: pc = rospy.wait_for_message(args.input_cloud, sm.PointCloud2) pc_tf = ros_utils.transformPointCloud2(pc, pr2.tf_listener, "base_footprint", pc.header.frame_id) xyz, rgb = ros_utils.pc2xyzrgb(pc_tf) table_bounds = list(tabletop.get_table_dimensions(xyz)) rospy.set_param("table_height", float(table_bounds[-1])) table_bounds[-1] -= args.downshift table_bounds[-2] -= args.downshift print "table bounds", table_bounds rospy.set_param("table_bounds", " ".join([str(x) for x in table_bounds]))
#!/usr/bin/env python import argparse parser = argparse.ArgumentParser() parser.add_argument("--downshift",type=float, default=0) parser.add_argument("--input_cloud",type=str, default="/camera/depth_registered/points") parser.add_argument("--manual_val", type=str, default="") args = parser.parse_args() from brett2.PR2 import PR2, ros_utils import rospy from point_clouds import tabletop import sensor_msgs.msg as sm rospy.init_node("set_table_params") if args.manual_val: rospy.set_param("table_bounds", args.manual_val) else: pr2 = PR2() #pr2.rarm.goto_posture('side') #pr2.larm.goto_posture('side') pc = rospy.wait_for_message(args.input_cloud, sm.PointCloud2) pc_tf = ros_utils.transformPointCloud2(pc, pr2.tf_listener, "base_footprint", pc.header.frame_id) xyz,rgb = ros_utils.pc2xyzrgb(pc_tf) table_bounds = list(tabletop.get_table_dimensions(xyz)) rospy.set_param("table_height", float(table_bounds[-1])) table_bounds[-1] -= args.downshift table_bounds[-2] -= args.downshift print "table bounds", table_bounds rospy.set_param("table_bounds", " ".join([str(x) for x in table_bounds]))
push_svc = rospy.ServiceProxy("push", Push) req = PushRequest() xyz0 = clusters[np.argmax(map(len, clusters))].reshape(1, -1, 3) rgb0 = np.zeros(xyz0.shape, 'uint8') point_cloud = xyzrgb2pc(xyz0, rgb0, "base_footprint") req.point_cloud = point_cloud push_svc.call(req) if False: pour_srv = rospy.ServiceProxy("pour", Pour) req = PourRequest() sort_inds = np.argsort(map(len, clusters)) for i in sort_inds[:2]: xyz0 = clusters[i].reshape(1, -1, 3) rgb0 = np.zeros(xyz0.shape, 'uint8') cloud = xyzrgb2pc(xyz0, rgb0, "base_footprint") req.object_clouds.append(cloud) pour_srv.call(req) if True: env = pr2.robot.GetEnv() if env.GetViewer() is None: env.SetViewer('qtcoin') bounds = tabletop.get_table_dimensions(xyz) from kinematics import kinbodies kinbodies.create_box_from_bounds(env, bounds, "table") for (i_clu, clu) in enumerate(clusters): x, y, z, r, h = tabletop.get_cylinder(clu) print kinbodies.create_cylinder(env, (x, y, z), r, h, name="cylinder%i" % i_clu)
clusters = tabletop.segment_tabletop_scene(xyz,"base_footprint",plotting2d=True, plotting3d=True) if False: push_svc = rospy.ServiceProxy("push",Push) req = PushRequest() xyz0 = clusters[np.argmax(map(len,clusters))].reshape(1,-1,3) rgb0 = np.zeros(xyz0.shape,'uint8') point_cloud = xyzrgb2pc(xyz0, rgb0, "base_footprint") req.point_cloud = point_cloud push_svc.call(req) if False: pour_srv = rospy.ServiceProxy("pour", Pour) req = PourRequest() sort_inds = np.argsort(map(len,clusters)) for i in sort_inds[:2]: xyz0 = clusters[i].reshape(1,-1,3) rgb0 = np.zeros(xyz0.shape,'uint8') cloud = xyzrgb2pc(xyz0, rgb0, "base_footprint") req.object_clouds.append(cloud) pour_srv.call(req) if True: env = pr2.robot.GetEnv() if env.GetViewer() is None: env.SetViewer('qtcoin') bounds = tabletop.get_table_dimensions(xyz) from kinematics import kinbodies kinbodies.create_box_from_bounds(env,bounds,"table") for (i_clu,clu) in enumerate(clusters): x,y,z,r,h = tabletop.get_cylinder(clu) print kinbodies.create_cylinder(env, (x,y,z),r,h, name="cylinder%i"%i_clu)