def __init__(self):
self.regionFilter = hirop_perception.RegionFilters("regionFilter",
maxZ=2)
self.pclFunsion = hirop_perception.PclFusion("pclFusion")
self.rosSource = hirop_perception.PointCloudRos(
'source',
topic_name="/kinect2/qhd/points",
world_frame='base_link')
self.pclViewer = ecto_pcl.CloudViewer("viewer",
window_name="PCD Viewer")
self.saver = ecto_pcl.PCDWriter(
"saver", filename_format="/home/eima/test_%04u.pcd", binary=True)
self.loader = ecto_pcl.PCDReader("Reader",
filename="/home/eima/test_0000.pcd")
self.publisher = hirop_perception.PointCloudPublish(
"publisher", topic_name="/filter_points", frame_id="base_link")
self.objectFilter = hirop_perception.ObjectFilter("objectFilter",
frame_id="base_link",
hight=0.20,
width=0.13,
length=0.15)
self.voxelFilter = hirop_perception.VoxelFilter("voxelFilter")
self.lookPlasm = ecto.Plasm()
self.lookPlasm.connect(self.rosSource["output"] >> self.regionFilter["input"], self.regionFilter["output"] >> self.voxelFilter["input"],\
self.rosSource["R"] >> self.pclFunsion["R"], self.rosSource["T"] >> self.pclFunsion["T"],\
self.voxelFilter["output"] >> self.pclFunsion["input"], self.pclFunsion["output"] >> self.objectFilter["input"], \
self.objectFilter["output"] >> self.publisher["input"])
self.savePlasm = ecto.Plasm()
self.savePlasm.connect(self.rosSource["output"] >> self.pclFunsion["input"],\
self.rosSource["T"] >>self.pclFunsion["T"], self.rosSource["R"] >>self.pclFunsion["R"], \
self.pclFunsion["output"] >> self.saver["input"])
self.loadPlasm = ecto.Plasm()
self.loadPlasm.connect(self.loader["output"] >> self.pclFunsion["input"], \
self.pclFunsion["output"] >> self.pclViewer["input"])
self.testPlasm = ecto.Plasm()
self.testPlasm.connect(self.rosSource["output"] >> self.pclFunsion["input"], self.pclFunsion["output"] >> self.regionFilter["input"],\
self.pclFunsion["output"] >> self.pclViewer["input"])
self.cleanPlasm = ecto.Plasm()
self.cleanPlasm.connect(
self.rosSource["output"] >> self.pclFunsion["input"],
self.pclFunsion["output"] >> self.objectFilter["input"])
self.keepRun = True
#!/usr/bin/env python
import hirop_perecption.hirop_perception as hirop_perception
import ecto, ecto_pcl
import sys
import time
import os
plasm = ecto.Plasm()
pcdfile = os.path.join(os.path.dirname(__file__), 'test.pcd')
if len(sys.argv) > 1:
pcdfile = sys.argv[1]
reader = ecto_pcl.PCDReader("Reader", filename=pcdfile)
filters = hirop_perception.RegionFilters("tester", maxZ=1)
fusion = hirop_perception.PclFusion()
viewer = ecto_pcl.CloudViewer("viewer", window_name="PCD Viewer")
saver = ecto_pcl.PCDWriter("Saver")
plasm.connect(reader["output"] >> fusion["input"],
fusion["output"] >> viewer["input"])
if __name__ == "__main__":
sched = ecto.Scheduler(plasm)
sched.execute(niter=1)
#sleep 10 seconds and exit.