Python transformPointCloud2 예제들

예제 #1

파일: set_table_parameters.py 프로젝트: cameronlee/python

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]))

예제 #2

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]))

예제 #3

파일: set_table_parameters.py 프로젝트: hojonathanho/python

#!/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]))