Python segmentValveWallAutoの例

コード例 #1

ファイル: testValveFitStereo.py プロジェクト: ori-drs/director

    view,
    parent='sensors',
    urdfFile=urdf_path,
    color=roboturdf.getRobotGrayColor(),
    visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)

# load poly data
dataDir = app.getTestingDataDirectory()
polyData = ioutils.readPolyData(
    os.path.join(dataDir, 'misc/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()

コード例 #2

ファイル: testValveFit.py プロジェクト: RobotLocomotion/director

robotStateModel, robotStateJointController = roboturdf.loadRobotModel('robot state model', view, parent='sensors', color=roboturdf.getRobotGrayColor(), visible=True)
segmentationroutines.SegmentationContext.initWithRobot(robotStateModel)

# Move robot to near to valve wall:
# 0degrees
#robotStateJointController.q[5] = math.radians(120)
#robotStateJointController.q[0] = 0
#robotStateJointController.q[1] = 0
# 30,60,90
robotStateJointController.q [5] = math.radians(-120)
robotStateJointController.q [0] = 1
robotStateJointController.q [1] = 1

robotStateJointController.q[2] = 0.85
robotStateJointController.push()

# load poly data
dataDir = app.getTestingDataDirectory()
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene.vtp'))
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene-30.vtp'))
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene-60.vtp'))
polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene-90.vtp'))
vis.showPolyData(polyData, 'pointcloud snapshot')

segmentation.segmentValveWallAuto(.2, mode='both', removeGroundMethod=segmentation.removeGround )

if app.getTestingInteractiveEnabled():
    view.show()
    app.showObjectModel()
    app.start()

コード例 #3

ファイル: testValveFitStereo.py プロジェクト: RobotLocomotion/director

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()

コード例 #4

ファイル: testValveFit.py プロジェクト: zhouchangSJTU/director

# Move robot to near to valve wall:
# 0degrees
#robotStateJointController.q[5] = math.radians(120)
#robotStateJointController.q[0] = 0
#robotStateJointController.q[1] = 0
# 30,60,90
robotStateJointController.q[5] = math.radians(-120)
robotStateJointController.q[0] = 1
robotStateJointController.q[1] = 1

robotStateJointController.q[2] = 0.85
robotStateJointController.push()

# load poly data
dataDir = app.getTestingDataDirectory()
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene.vtp'))
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene-30.vtp'))
#polyData = ioUtils.readPolyData(os.path.join(dataDir, 'valve/valve-lever-scene-60.vtp'))
polyData = ioUtils.readPolyData(
    os.path.join(dataDir, 'valve/valve-lever-scene-90.vtp'))
vis.showPolyData(polyData, 'pointcloud snapshot')

segmentation.segmentValveWallAuto(.2,
                                  mode='both',
                                  removeGroundMethod=segmentation.removeGround)

if app.getTestingInteractiveEnabled():
    view.show()
    app.showObjectModel()
    app.start()