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 visualize_stow_json(json_file):
"""Visualize json file for Stow Task in APC2016.
Args:
json_file (str): Path to the json file.
Returns:
dest (~numpy.ndarray): Image of objects in bins and tote.
"""
bin_contents, tote_contents = _load_stow_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')
# draw bin contents
kiva_pod_img = jsk_apc2015_common.visualize_bin_contents(
bin_contents, extra_img_paths=extra_img_paths)
# draw tote contents
tote_img = visualize_stow_contents(tote_contents)
# merge two images
kiva_w = kiva_pod_img.shape[1]
tote_w, tote_h = tote_img.shape[1], tote_img.shape[0]
tote_img = cv2.resize(tote_img, (kiva_w, tote_h * kiva_w // tote_w))
dest = np.concatenate((kiva_pod_img, tote_img), axis=0)
return dest
def visualize_stow_json(json_file):
"""Visualize json file for Stow Task in APC2016.
Args:
json_file (str): Path to the json file.
Returns:
dest (~numpy.ndarray): Image of objects in bins and tote.
"""
bin_contents, tote_contents = _load_stow_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')
# draw bin contents
kiva_pod_img = jsk_apc2015_common.visualize_bin_contents(
bin_contents, extra_img_paths=extra_img_paths)
# draw tote contents
tote_img = visualize_stow_contents(tote_contents)
# merge two images
kiva_w = kiva_pod_img.shape[1]
tote_w, tote_h = tote_img.shape[1], tote_img.shape[0]
tote_img = cv2.resize(tote_img, (kiva_w, tote_h*kiva_w//tote_w))
dest = np.concatenate((kiva_pod_img, tote_img), axis=0)
return dest
def visualize_stow_json(json_file):
bin_contents, work_order = _load_stow_json(json_file)
# draw bin contents
kiva_pod_img = jsk_apc2015_common.visualize_bin_contents(bin_contents)
# draw tote contents
tote_img = visualize_stow_contents(work_order)
# merge two images
kiva_w,kiva_h = kiva_pod_img.shape[1],kiva_pod_img.shape[0]
tote_w,tote_h = tote_img.shape[1],tote_img.shape[0]
tote_img = cv2.resize(tote_img,(kiva_w,tote_h*kiva_w//tote_w))
dest = np.concatenate((kiva_pod_img,tote_img),axis=0)
return dest
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_stow_json(json_file):
"""Visualize json file for Stow Task in APC2016.
Args:
json_file (str): Path to the json file.
Returns:
dest (~numpy.ndarray): Image of objects in bins and tote.
"""
bin_contents, work_order = _load_stow_json(json_file)
# draw bin contents
kiva_pod_img = jsk_apc2015_common.visualize_bin_contents(bin_contents)
# draw tote contents
tote_img = visualize_stow_contents(work_order)
# merge two images
kiva_w = kiva_pod_img.shape[1]
tote_w, tote_h = tote_img.shape[1], tote_img.shape[0]
tote_img = cv2.resize(tote_img, (kiva_w, tote_h*kiva_w//tote_w))
dest = np.concatenate((kiva_pod_img, tote_img), axis=0)
return dest
def visualize_stow_json(json_file):
"""Visualize json file for Stow Task in APC2016.
Args:
json_file (str): Path to the json file.
Returns:
dest (~numpy.ndarray): Image of objects in bins and tote.
"""
bin_contents, work_order = _load_stow_json(json_file)
# draw bin contents
kiva_pod_img = jsk_apc2015_common.visualize_bin_contents(bin_contents)
# draw tote contents
tote_img = visualize_stow_contents(work_order)
# merge two images
kiva_w = kiva_pod_img.shape[1]
tote_w, tote_h = tote_img.shape[1], tote_img.shape[0]
tote_img = cv2.resize(tote_img, (kiva_w, tote_h*kiva_w//tote_w))
dest = np.concatenate((kiva_pod_img, tote_img), axis=0)
return dest
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
