def spawnHandAtCurrentLocation(side='left'):
if (side is 'left'):
tf = transformUtils.copyFrame( getLinkFrame( 'l_hand_face') )
handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'left')
else:
tf = transformUtils.copyFrame( getLinkFrame( 'right_pointer_tip') )
handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'right')
def spawnHandAtCurrentLocation(side='left'):
if (side is 'left'):
tf = transformUtils.copyFrame( getLinkFrame( 'l_hand_face') )
handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'left')
else:
tf = transformUtils.copyFrame( getLinkFrame( 'right_pointer_tip') )
handFactory.placeHandModelWithTransform( tf , app.getCurrentView(), 'right')
segmentationroutines.SegmentationContext.initWithUser(groundHeight, viewFrame)
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioUtils.readPolyData(
os.path.join(dataDir, 'tabletop/table-sparse-stereo.vtp'))
vis.showPolyData(polyData,
'pointcloud snapshot original',
colorByName='rgb_colors')
polyData = segmentationroutines.sparsifyStereoCloud(polyData)
vis.showPolyData(polyData, 'pointcloud snapshot')
# Use only returns near the robot:
polyData = segmentation.addCoordArraysToPolyData(polyData)
polyData = segmentation.thresholdPoints(polyData, 'distance_along_view_x',
[0, 1.3])
segmentation.segmentTableThenFindDrills(polyData,
[1.2864902, -0.93351376, 1.10208917])
if app.getTestingInteractiveEnabled():
v = applogic.getCurrentView()
v.camera().SetPosition([3, 3, 3])
v.camera().SetFocalPoint([0, 0, 0])
view.show()
app.showObjectModel()
app.start()
app = ConsoleApp()
# 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)
# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-sparse-stereo.pcd'))
vis.showPolyData(polyData, 'pointcloud snapshot original', colorByName='rgb_colors')
polyData = segmentationroutines.sparsifyStereoCloud( polyData )
vis.showPolyData(polyData, 'pointcloud snapshot')
# fit valve and lever
segmentation.segmentValveWallAuto(.2, mode='valve', removeGroundMethod=segmentation.removeGroundSimple )
if app.getTestingInteractiveEnabled():
v = applogic.getCurrentView()
v.camera().SetPosition([3,3,3])
v.camera().SetFocalPoint([0,0,0])
view.show()
app.showObjectModel()
app.start()