def make_human_rope_pipeline(downsample=5, init_period=0): if init_period == 0: init_period = 9999 P = Pipeline() P.add_topic("kinect") P.add_topic("rope_pts") P.add_topic("rope_init",dont_clean=True) P.add_topic("rope_model") P.add_file("once/table_corners.txt") P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"]) P.add_program("initializer", "loop_initialize_rope_lite.py rope_pts rope_init %.2f"%init_period,["rope_pts"],["rope_init"]) P.add_program("rope_preproc", "comm_rope_preproc", ["kinect","once/table_corners.txt"], ["rope_pts"]) P.add_program("track_rope", "track_rope --scale=10 --kp=.1 --kd=0 --outlierParam=.2 --showEst=0 --showObs=1 --showKinect=1", ["kinect","rope_init","rope_pts","once/table_corners.txt"], ["rope_model"]) P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.env = os.environ return P
def make_human_rope_pipeline(downsample=5, init_period=0): if init_period == 0: init_period = 9999 P = Pipeline() P.add_topic("kinect") P.add_topic("rope_pts") P.add_topic("rope_init", dont_clean=True) P.add_topic("rope_model") P.add_file("once/table_corners.txt") P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample, [], ["kinect"]) P.add_program( "initializer", "loop_initialize_rope_lite.py rope_pts rope_init %.2f" % init_period, ["rope_pts"], ["rope_init"]) P.add_program("rope_preproc", "comm_rope_preproc", ["kinect", "once/table_corners.txt"], ["rope_pts"]) P.add_program( "track_rope", "track_rope --scale=10 --kp=.1 --kd=0 --outlierParam=.2 --showEst=0 --showObs=1 --showKinect=1", ["kinect", "rope_init", "rope_pts", "once/table_corners.txt"], ["rope_model"]) P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.env = os.environ return P
def make_towel_pipeline(downsample=10): P = Pipeline() P.add_topic("kinect") P.add_topic("towel_pts") P.add_file("once/table_corners.txt") P.add_topic("towel_model") P.add_program("get_table", "comm_get_table", ["kinect"],["once/table_corners.txt"]) P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"]) P.add_program("towel_preproc", "comm_towel_preproc", ["kinect","once/table_corners.txt"], ["towel_pts"]) P.add_program("towel_tracker", "comm_track_towel --kp=200 --kd=0 --gravity=0", ["kinect", "once/table_corners.txt", "towel_pts"], ["towel_model"]) P.env = os.environ return P
def make_towel_pipeline(downsample=10): P = Pipeline() P.add_topic("kinect") P.add_topic("towel_pts") P.add_file("once/table_corners.txt") P.add_topic("towel_model") P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample, [], ["kinect"]) P.add_program("towel_preproc", "comm_towel_preproc", ["kinect", "once/table_corners.txt"], ["towel_pts"]) P.add_program("towel_tracker", "comm_track_towel --kp=200 --kd=0 --gravity=0", ["kinect", "once/table_corners.txt", "towel_pts"], ["towel_model"]) P.env = os.environ return P
def make_robot_rope_pipeline(classifier, downsample=5, init_period=0): if init_period == 0: init_period = 9999 P = Pipeline() P.add_topic("kinect") P.add_topic("labels") P.add_topic("images") P.add_topic("rope_pts") P.add_topic("rope_init", dont_clean=True) P.add_topic("rope_model") P.add_topic("joint_states", async=True) P.add_file("once/table_corners.txt") P.add_file("once/roi_mask.png") P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample, [], ["kinect"]) P.add_program("pcd2bmp", "comm_pcd2bmp.py kinect images", ["kinect"], ["images"]) P.add_program( "apply_classifier", "comm_apply_classifier_par.py images labels %s --procs=3 --mask=once/roi_mask.png" % classifier, ["images", "once/roi_mask.png"], ["labels"]) #P.add_program("apply_classifier", "comm_apply_classifier.py images labels %s --mask=once/roi_mask.png"%classifier, ["images","once/roi_mask.png"], ["labels"]) P.add_program( "downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 2 -o rope_pts", ["kinect", "labels"], ["rope_pts"]) P.add_program( "initializer", "loop_initialize_rope_lite.py kinect labels rope_init %.2f" % init_period, ["kinect", "labels"], ["rope_init"]) P.add_program( "track_rope_with_robot", "track_rope_with_robot --kp=1 --kd=0 --showEst=0 --showObs=0 --showKinect=1", [ "kinect", "labels", "rope_init", "rope_pts", "joint_states", "once/table_corners.txt" ], ["rope_model"]) P.add_program( "make_roi", "make_roi.py -i images/data000000000000.bmp -o once/roi_mask.png", ["images"], ["once/roi_mask.png"]) P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.add_program( "write_joints", "publish_ros_topic.py /joint_states --out joint_states -d 5", [], ["joint_states"]) P.env = os.environ return P
def make_vision_pipeline(downsample, classifier, init_period=0): if init_period == 0: init_period = 9999 P = Pipeline() P.add_topic("kinect") P.add_topic("labels") P.add_topic("images") P.add_topic("rope_pts") P.add_topic("towel_pts") P.add_topic("rope_init", dont_clean=True) P.add_topic("rope_model") P.add_topic("towel_model") P.add_file("once/table_corners.txt") P.add_file("once/roi_mask.png") P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample, [], ["kinect"]) P.add_program("pcd2bmp", "comm_pcd2bmp.py kinect images", ["kinect"], ["images"]) P.add_program( "apply_classifier", "comm_apply_classifier_par.py images labels %s --procs=3 --mask=once/roi_mask.png" % classifier, ["images", "once/roi_mask.png"], ["labels"]) P.add_program( "rope_downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 2 -o rope_pts", ["kinect", "labels"], ["rope_pts"]) P.add_program( "towel_downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 -o towel_pts -v .025", ["kinect", "labels"], ["towel_pts"]) P.add_program( "rope_initializer", "loop_initialize_rope_lite.py kinect labels rope_init %.2f" % init_period, ["kinect", "labels"], ["rope_init"]) P.add_program( "track_human_rope", "test_new_tracking2 --kp=1 --kd=0 --showEst=0 --showObs=0 --showKinect=1", [ "kinect", "labels", "rope_init", "rope_pts", "once/table_corners.txt" ], ["rope_model"]) P.add_program( "track_human_cloth", "test_new_towel_tracking --objType=towel --kp=300 --kd=20 --gravity=0 --towelRes=.5 --showEst=0 --showObs=0 --showLines=0 --showKinect=0 --towelStiffness=.1", ["kinect", "labels", "towel_pts", "once/table_corners.txt"], ["towel_model"]) P.add_program( "make_roi", "make_roi.py -i images/data000000000000.bmp -o once/roi_mask.png", ["images"], ["once/roi_mask.png"]) P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.env = os.environ return P
def make_robot_rope_pipeline2(classifier, downsample=5, init_period=0): if init_period == 0: init_period = 9999 P = Pipeline() P.add_topic("kinect") P.add_topic("rope_pts") P.add_topic("rope_init", dont_clean=True) P.add_topic("rope_model") P.add_topic("joint_states", async=True) P.add_topic("base_pose", async=True) P.add_file("once/table_corners.txt") P.add_file("once/transform.txt") P.add_program("write_pcds", "comm_write_pcds kinect -d %i" % downsample, [], ["kinect"]) P.add_program( "initializer", "loop_initialize_rope_lite.py rope_pts rope_init %.2f" % init_period, ["rope_pts"], ["rope_init"]) P.add_program("rope_preproc", "comm_rope_preproc", ["kinect", "once/table_corners.txt"], ["rope_pts"]) P.add_program( "track_rope_with_robot", "track_rope_with_robot --scale=10 --kp=1 --kd=0 --outlierParam=.25 --showEst=0 --showObs=0 --showKinect=1", [ "kinect", "rope_init", "rope_pts", "joint_states", "once/table_corners.txt", "once/transform.txt" ], ["rope_model"]) P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.add_program( "write_joints", "publish_ros_topic.py /joint_states --out joint_states -d 5", [], ["joint_states"]) P.add_program( "write_base_pose", "tf_to_comm.py /base_footprint /base_footprint base_pose --hz=25", [], ["base_pose"]) P.env = os.environ return P
def make_robot_rope_pipeline2(classifier, downsample=5, init_period=0): if init_period == 0: init_period = 9999 P = Pipeline() P.add_topic("kinect") P.add_topic("rope_pts") P.add_topic("rope_init",dont_clean=True) P.add_topic("rope_model") P.add_topic("joint_states",async=True) P.add_topic("base_pose", async=True) P.add_file("once/table_corners.txt") P.add_file("once/transform.txt") P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"]) P.add_program("initializer", "loop_initialize_rope_lite.py rope_pts rope_init %.2f"%init_period,["rope_pts"],["rope_init"]) P.add_program("rope_preproc", "comm_rope_preproc", ["kinect","once/table_corners.txt"], ["rope_pts"]) P.add_program("track_rope_with_robot", "track_rope_with_robot --scale=10 --kp=1 --kd=0 --outlierParam=.25 --showEst=0 --showObs=0 --showKinect=1", ["kinect","rope_init","rope_pts","joint_states","once/table_corners.txt","once/transform.txt"], ["rope_model"]) P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.add_program("write_joints", "publish_ros_topic.py /joint_states --out joint_states -d 5", [], ["joint_states"]) P.add_program("write_base_pose", "tf_to_comm.py /base_footprint /base_footprint base_pose --hz=25", [], ["base_pose"]) P.env = os.environ return P
def make_robot_rope_pipeline(classifier, downsample=5, init_period=0): if init_period == 0: init_period = 9999 P = Pipeline() P.add_topic("kinect") P.add_topic("labels") P.add_topic("images") P.add_topic("rope_pts") P.add_topic("rope_init",dont_clean=True) P.add_topic("rope_model") P.add_topic("joint_states",async=True) P.add_file("once/table_corners.txt") P.add_file("once/roi_mask.png") P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"]) P.add_program("pcd2bmp", "comm_pcd2bmp.py kinect images", ["kinect"], ["images"]) P.add_program("apply_classifier", "comm_apply_classifier_par.py images labels %s --procs=3 --mask=once/roi_mask.png"%classifier, ["images","once/roi_mask.png"], ["labels"]) #P.add_program("apply_classifier", "comm_apply_classifier.py images labels %s --mask=once/roi_mask.png"%classifier, ["images","once/roi_mask.png"], ["labels"]) P.add_program("downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 2 -o rope_pts",["kinect","labels"],["rope_pts"]) P.add_program("initializer", "loop_initialize_rope_lite.py kinect labels rope_init %.2f"%init_period,["kinect","labels"],["rope_init"]) P.add_program("track_rope_with_robot", "track_rope_with_robot --kp=1 --kd=0 --showEst=0 --showObs=0 --showKinect=1", ["kinect","labels","rope_init","rope_pts","joint_states","once/table_corners.txt"], ["rope_model"]) P.add_program("make_roi", "make_roi.py -i images/data000000000000.bmp -o once/roi_mask.png", ["images"], ["once/roi_mask.png"]) P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.add_program("write_joints", "publish_ros_topic.py /joint_states --out joint_states -d 5", [], ["joint_states"]) P.env = os.environ return P
def make_vision_pipeline(downsample, classifier, init_period=0): if init_period == 0: init_period = 9999 P = Pipeline() P.add_topic("kinect") P.add_topic("labels") P.add_topic("images") P.add_topic("rope_pts") P.add_topic("towel_pts") P.add_topic("rope_init",dont_clean=True) P.add_topic("rope_model") P.add_topic("towel_model") P.add_file("once/table_corners.txt") P.add_file("once/roi_mask.png") P.add_program("write_pcds", "comm_write_pcds kinect -d %i"%downsample, [], ["kinect"]) P.add_program("pcd2bmp", "comm_pcd2bmp.py kinect images", ["kinect"], ["images"]) P.add_program("apply_classifier", "comm_apply_classifier_par.py images labels %s --procs=3 --mask=once/roi_mask.png"%classifier, ["images","once/roi_mask.png"], ["labels"]) P.add_program("rope_downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 2 -o rope_pts",["kinect","labels"],["rope_pts"]) P.add_program("towel_downsampler", "comm_downsample_clouds -c kinect -l labels -n 1 -o towel_pts -v .025",["kinect","labels"],["towel_pts"]) P.add_program("rope_initializer", "loop_initialize_rope_lite.py kinect labels rope_init %.2f"%init_period,["kinect","labels"],["rope_init"]) P.add_program("track_human_rope", "test_new_tracking2 --kp=1 --kd=0 --showEst=0 --showObs=0 --showKinect=1", ["kinect","labels","rope_init","rope_pts","once/table_corners.txt"], ["rope_model"]) P.add_program("track_human_cloth", "test_new_towel_tracking --objType=towel --kp=300 --kd=20 --gravity=0 --towelRes=.5 --showEst=0 --showObs=0 --showLines=0 --showKinect=0 --towelStiffness=.1", ["kinect","labels","towel_pts","once/table_corners.txt"],["towel_model"]) P.add_program("make_roi", "make_roi.py -i images/data000000000000.bmp -o once/roi_mask.png", ["images"], ["once/roi_mask.png"]) P.add_program("get_table", "comm_get_table", ["kinect"], ["once/table_corners.txt"]) P.env = os.environ return P