def read(file):
yaml_data = None
with open(file) as f:
yaml_data = yaml.load(f)
anns_list = []
data_list = []
for t in yaml_data:
ann = Annotation()
ann.timestamp = rospy.Time.now()
ann.data_id = unique_id.toMsg(unique_id.fromRandom())
ann.id = unique_id.toMsg(unique_id.fromRandom())
ann.world = world
ann.name = t['name']
ann.type = 'ar_track_alvar_msgs/AlvarMarker'
for i in range(0, random.randint(0, 11)):
ann.keywords.append('kw' + str(random.randint(1, 11)))
# if 'prev_id' in vars():
# ann.relationships.append(prev_id)
# prev_id = ann.id
ann.shape = 1 # CUBE
ann.color.r = 1.0
ann.color.g = 1.0
ann.color.b = 1.0
ann.color.a = 1.0
ann.size.x = 0.18
ann.size.y = 0.18
ann.size.z = 0.01
ann.pose.header.frame_id = t['frame_id']
ann.pose.header.stamp = rospy.Time.now()
ann.pose.pose.pose = message_converter.convert_dictionary_to_ros_message(
'geometry_msgs/Pose', t['pose'])
anns_list.append(ann)
object = AlvarMarker()
object.id = t['id']
object.confidence = t['confidence']
object.pose.header.frame_id = t['frame_id']
object.pose.header.stamp = rospy.Time.now()
object.pose.pose = message_converter.convert_dictionary_to_ros_message(
'geometry_msgs/Pose', t['pose'])
data = AnnotationData()
data.id = ann.data_id
data.type = ann.type
data.data = serialize_msg(object)
data_list.append(data)
return anns_list, data_list
def read(file):
yaml_data = None
with open(file) as f:
yaml_data = yaml.load(f)
anns_list = []
data_list = []
for t in yaml_data:
ann = Annotation()
ann.timestamp = rospy.Time.now()
ann.data_id = unique_id.toMsg(unique_id.fromRandom())
ann.id = unique_id.toMsg(unique_id.fromRandom())
ann.world = world
ann.name = t['name']
ann.type = 'ar_track_alvar_msgs/AlvarMarker'
for i in range(0, random.randint(0,11)):
ann.keywords.append('kw'+str(random.randint(1,11)))
# if 'prev_id' in vars():
# ann.relationships.append(prev_id)
# prev_id = ann.id
ann.shape = 1 # CUBE
ann.color.r = 1.0
ann.color.g = 1.0
ann.color.b = 1.0
ann.color.a = 1.0
ann.size.x = 0.18
ann.size.y = 0.18
ann.size.z = 0.01
ann.pose.header.frame_id = t['frame_id']
ann.pose.header.stamp = rospy.Time.now()
ann.pose.pose.pose = message_converter.convert_dictionary_to_ros_message('geometry_msgs/Pose',t['pose'])
anns_list.append(ann)
object = AlvarMarker()
object.id = t['id']
object.confidence = t['confidence']
object.pose.header.frame_id = t['frame_id']
object.pose.header.stamp = rospy.Time.now()
object.pose.pose = message_converter.convert_dictionary_to_ros_message('geometry_msgs/Pose',t['pose'])
data = AnnotationData()
data.id = ann.data_id
data.type = ann.type
data.data = serialize_msg(object)
data_list.append(data)
return anns_list, data_list
def publish(markers):
ar_list = AlvarMarkers()
for m in markers:
ar = AlvarMarker()
ar.id = m['id']
ar.confidence = m['confidence']
ar.pose.header.frame_id = m['frame_id']
ar.pose.header.stamp = rospy.Time.now()
ar.pose.pose = message_converter.convert_dictionary_to_ros_message(
'geometry_msgs/Pose', m['pose'])
ar_list.markers.append(ar)
ar_pub.publish(ar_list)
return
def ar_pose_grabbing(self, data):
num_markers = 0
marker = AlvarMarker()
marker.confidence = 0
for i in data.markers:
marker = i
num_markers = num_markers + 1
# rospy.loginfo('confidence is: %f', i.confidence)
# if i.confidence > self.confidence_th:
# num_markers = num_markers + 1
# if i.confidence > marker.conficence:
# marker = i
# if num_markers > 0:
if num_markers == 1:
if len(self.ar_pose_x_history) < self.ar_pose_history_len:
# Consider to compare the marker id to determine whether to append a marker
self.ar_pose_history_append(marker.pose.pose)
else:
self.ar_pose_history_pop()
self.ar_pose_history_append(marker.pose.pose)
self.update_data_hist(marker.pose.pose)
else:
rospy.loginfo('No marker is reliablly detected!!!')
