def test_load_json():
json_file = osp.join(_this_dir, 'data', 'f2.json')
bin_contents, work_order = jsk_apc2015_common.load_json(json_file)
assert_true(isinstance(bin_contents, dict))
assert_equal(bin_contents.keys(), ['f'])
assert_true(isinstance(work_order, dict))
assert_equal(work_order.keys(), ['f'])
def test_visualize_bin_contents():
json_file = osp.join(_this_dir, 'data', 'f2.json')
bin_contents, work_order = jsk_apc2015_common.load_json(json_file)
# work_order is None
img = jsk_apc2015_common.visualize_bin_contents(bin_contents)
assert_equal(img.shape, (2435, 2067, 3))
assert_equal(img.dtype, np.uint8)
# work_order is not None
img = jsk_apc2015_common.visualize_bin_contents(bin_contents, work_order)
assert_equal(img.shape, (2435, 2067, 3))
assert_equal(img.dtype, np.uint8)
def test_visualize_bin_contents():
json_file = osp.join(_this_dir, 'data', 'f2.json')
bin_contents, work_order = jsk_apc2015_common.load_json(json_file)
# work_order is None
img = jsk_apc2015_common.visualize_bin_contents(bin_contents)
assert_equal(img.shape, (2435, 2067, 3))
assert_equal(img.dtype, np.uint8)
# work_order is not None
img = jsk_apc2015_common.visualize_bin_contents(bin_contents, work_order)
assert_equal(img.shape, (2435, 2067, 3))
assert_equal(img.dtype, np.uint8)
# extra_img_paths are passed
rp = rospkg.RosPack()
pkg_path = rp.get_path('jsk_apc2015_common')
extra_img_paths = {
'safety_works_safety_glasses':
osp.join(pkg_path, 'models/safety_works_safety_glasses/image.jpg')
}
img = jsk_apc2015_common.visualize_bin_contents(
bin_contents, extra_img_paths=extra_img_paths)
assert_equal(img.shape, (2435, 2067, 3))
assert_equal(img.dtype, np.uint8)
def visualize_pick_json(json_file):
"""Visualize json file for Pick Task in APC2016
Args:
json_file (``str``): Path to the json file.
Returns:
kiva_pod_img (~numpy.ndarray):
visualized image of listed objects over the Kiva Pod image.
"""
# load data from json
bin_contents, work_order = jsk_apc2015_common.load_json(json_file)
# set extra image paths that is added in APC2016
rp = rospkg.RosPack()
pkg_path = rp.get_path(PKG)
extra_img_paths = {}
for entry in get_object_data():
obj = entry['name']
extra_img_paths[obj] = osp.join(pkg_path, 'models', obj, 'image.jpg')
# generate visualized image
img = jsk_apc2015_common.visualize_bin_contents(
bin_contents, work_order, extra_img_paths)
return img
def visualize_pick_json(json_file):
"""Visualize json file for Pick Task in APC2016
Args:
json_file (``str``): Path to the json file.
Returns:
kiva_pod_img (~numpy.ndarray):
visualized image of listed objects over the Kiva Pod image.
"""
# load data from json
bin_contents, work_order = jsk_apc2015_common.load_json(json_file)
# set extra image paths that is added in APC2016
rp = rospkg.RosPack()
pkg_path = rp.get_path(PKG)
extra_img_paths = {}
for entry in get_object_data():
obj = entry['name']
extra_img_paths[obj] = osp.join(pkg_path, 'models', obj, 'image.jpg')
# generate visualized image
img = jsk_apc2015_common.visualize_bin_contents(bin_contents, work_order,
extra_img_paths)
return img
