示例#1
0
def get_object_instances_list(req):
    res = GetObjectInstancesListResponse()
    objects = db().query(ObjectInstance.id, ObjectInstance.name, ObjectInstance.alias, FrameNode).filter(ObjectInstance.frame_id == FrameNode.id).all()
    for id, name, alias, frame in objects:
      obj = ROSObjectInstance()
      obj.id = id
      obj.name = name
      obj.alias = alias
      obj.pose = frame.toROSPoseStamped()
      res.objects.append(obj)
    return res
示例#2
0
def get_object_instances_list( req ):
  rospy.loginfo( "DB SRVs: get_object_instances_list" )
  res = GetObjectInstancesListResponse()
  objects = db().query( ObjectInstance.id, ObjectInstance.name, ObjectInstance.alias, FrameNode, ObjectDescription.type).\
                filter( ObjectInstance.id.in_( any_obj_types_ids(ObjectInstance, req.types) ), ObjectInstance.relative_description_id == ObjectDescription.id, ObjectInstance.frame_id == FrameNode.id ).all()
  for id, name, alias, frame, type in objects:
    obj = ROSObjectInstance()
    obj.id = id
    obj.name = name
    obj.alias = alias
    obj.pose = frame.toROSPoseStamped()
    obj.description.type = type
    res.objects.append( obj )
  return res
示例#3
0
def get_object_instances_list(req):
    rospy.loginfo("DB SRVs: get_object_instances_list")
    res = GetObjectInstancesListResponse()
    objects = db().query( ObjectInstance.id, ObjectInstance.name, ObjectInstance.alias, FrameNode, ObjectDescription.type).\
                  filter( ObjectInstance.id.in_( any_obj_types_ids(ObjectInstance, req.types) ), ObjectInstance.relative_description_id == ObjectDescription.id, ObjectInstance.frame_id == FrameNode.id ).all()
    for id, name, alias, frame, type in objects:
        obj = ROSObjectInstance()
        obj.id = id
        obj.name = name
        obj.alias = alias
        obj.pose = frame.toROSPoseStamped()
        obj.description.type = type
        res.objects.append(obj)
    return res
示例#4
0
    def toROS(self):
        ros = ROSObjectInstance()
        ros.id = self.id
        ros.name = str(self.name)
        if self.alias:
            ros.alias = str(self.alias)
        else:
            ros.alias = ""
        if self.frame:
            ros.pose = self.frame.toROSPoseStamped()
        else:
            ros.pose = ROSPoseStamped()

        if self.relative_description:
            ros.description = self.relative_description.toROS()
        else:
            ros.description = ROSObjectDescription()

        if self.absolute_description:
            ros.absolute = self.absolute_description.toROS()
        else:
            ros.absolute = ROSObjectDescription()

        return ros
示例#5
0
  def toROS( self ):
    ros = ROSObjectInstance()
    ros.id = self.id
    ros.name = str(self.name)
    if self.alias:
      ros.alias = str(self.alias)
    else:
      ros.alias = ""
    if self.frame:
      ros.pose = self.frame.toROSPoseStamped()
    else:
      ros.pose = ROSPoseStamped()

    if self.relative_description:
      ros.description = self.relative_description.toROS()
    else:
      ros.description = ROSObjectDescription()

    if self.absolute_description:
      ros.absolute = self.absolute_description.toROS()
    else:
      ros.absolute = ROSObjectDescription()

    return ros
示例#6
0
def get_object_instances( req ):
  rospy.loginfo( "SEMAP DB SRVs: get_object_instances" )
  then = rospy.Time.now()
  res = GetObjectInstancesResponse()

  if True:
    inst = aliased(ObjectInstance)
    desc = aliased(ObjectDescription)
    frame = aliased(FrameNode)

    descs = db().query( desc.id, desc.type, desc ).filter( inst.id.in_( req.ids ), inst.relative_description_id == desc.id ).distinct().all()
    descs_time = (rospy.Time.now() - then ).to_sec()
    #print descs
    #for id, type, desc in descs:
      #print id, type
    resultset ={}
    for id, type, desc in descs:
      resultset[id] = desc.toROS()
    #print resultset
    ros_time = (rospy.Time.now() - then ).to_sec() - descs_time
    insts = db().query( inst.id, inst.name, inst.alias, inst.relative_description_id, frame ).filter( inst.id.in_( req.ids ), inst.frame_id == frame.id ).all()
    insts_time = (rospy.Time.now() - then ).to_sec() - descs_time - ros_time

    for id, name, alias, desc_id, frame in insts:
      #print id, alias, desc_id, frame

      ros = ROSObjectInstance()
      ros.id = id
      ros.name = name

      if alias:
        ros.alias = alias
      else:
        ros.alias = ""

      if frame:
        ros.pose = frame.toROSPoseStamped()
      else:
        ros.pose = ROSPoseStamped()

      if desc_id:
        ros.description = resultset[desc_id]#.toROS()
      else:
        ros.description = ROSObjectDescription()

      if True:#False:
        abs_desc = db().query( ObjectDescription ).filter( ObjectInstance.id == id, ObjectInstance.absolute_description_id == ObjectDescription.id ).scalar()
        ros.absolute = abs_desc.toROS()
      else:
         ros.absolute = ROSObjectDescription()
      res.objects.append( ros )
    packaging_time = (rospy.Time.now() - then ).to_sec() - descs_time - ros_time- insts_time


    rospy.loginfo( "# Descriptions : %d" % len(descs) )
    rospy.loginfo( "# Instances    : %d" % len(insts) )

    rospy.loginfo( "  Descriptions  : %fs" % descs_time )
    rospy.loginfo( "  ROS Conversion: %fs" % ros_time )
    rospy.loginfo( "  Instances     : %fs" % insts_time)
    rospy.loginfo( "  Packaging     : %fs" % packaging_time )
    rospy.loginfo( "Total             %fs" % ( rospy.Time.now() - then ).to_sec() )

  then2 = rospy.Time.now()

  if False:
    rospy.loginfo( "SEMAP DB SRVs: get_object_instances NAIVE" )
    objects = db().query( ObjectInstance ).filter( ObjectInstance.id.in_( req.ids ) ).all()
    obj_time = (rospy.Time.now() - then2 ).to_sec()
    for obj in objects:
      ros = obj.toROS()
      res.objects.append( ros )
    packaging2_time = (rospy.Time.now() - then2 ).to_sec() - obj_time
    rospy.loginfo( "  Objects       : %fs" % obj_time )
    rospy.loginfo( "  Packaging     : %fs" % packaging2_time )
    rospy.loginfo( "Total             %fs" % ( rospy.Time.now() - then2 ).to_sec() )

  return res
示例#7
0
def get_object_instances(req):
    rospy.loginfo("SEMAP DB SRVs: get_object_instances")
    then = rospy.Time.now()
    res = GetObjectInstancesResponse()

    if True:
        inst = aliased(ObjectInstance)
        desc = aliased(ObjectDescription)
        frame = aliased(FrameNode)

        descs = db().query(desc.id, desc.type, desc).filter(
            inst.id.in_(req.ids),
            inst.relative_description_id == desc.id).distinct().all()
        descs_time = (rospy.Time.now() - then).to_sec()
        #print descs
        #for id, type, desc in descs:
        #print id, type
        resultset = {}
        for id, type, desc in descs:
            resultset[id] = desc.toROS()
        #print resultset
        ros_time = (rospy.Time.now() - then).to_sec() - descs_time
        insts = db().query(inst.id, inst.name, inst.alias,
                           inst.relative_description_id,
                           frame).filter(inst.id.in_(req.ids),
                                         inst.frame_id == frame.id).all()
        insts_time = (rospy.Time.now() - then).to_sec() - descs_time - ros_time

        for id, name, alias, desc_id, frame in insts:
            #print id, alias, desc_id, frame

            ros = ROSObjectInstance()
            ros.id = id
            ros.name = name

            if alias:
                ros.alias = alias
            else:
                ros.alias = ""

            if frame:
                ros.pose = frame.toROSPoseStamped()
            else:
                ros.pose = ROSPoseStamped()

            if desc_id:
                ros.description = resultset[desc_id]  #.toROS()
            else:
                ros.description = ROSObjectDescription()

            if True:  #False:
                abs_desc = db().query(ObjectDescription).filter(
                    ObjectInstance.id == id,
                    ObjectInstance.absolute_description_id ==
                    ObjectDescription.id).scalar()
                ros.absolute = abs_desc.toROS()
            else:
                ros.absolute = ROSObjectDescription()
            res.objects.append(ros)
        packaging_time = (rospy.Time.now() -
                          then).to_sec() - descs_time - ros_time - insts_time

        rospy.loginfo("# Descriptions : %d" % len(descs))
        rospy.loginfo("# Instances    : %d" % len(insts))

        rospy.loginfo("  Descriptions  : %fs" % descs_time)
        rospy.loginfo("  ROS Conversion: %fs" % ros_time)
        rospy.loginfo("  Instances     : %fs" % insts_time)
        rospy.loginfo("  Packaging     : %fs" % packaging_time)
        rospy.loginfo("Total             %fs" %
                      (rospy.Time.now() - then).to_sec())

    then2 = rospy.Time.now()

    if False:
        rospy.loginfo("SEMAP DB SRVs: get_object_instances NAIVE")
        objects = db().query(ObjectInstance).filter(
            ObjectInstance.id.in_(req.ids)).all()
        obj_time = (rospy.Time.now() - then2).to_sec()
        for obj in objects:
            ros = obj.toROS()
            res.objects.append(ros)
        packaging2_time = (rospy.Time.now() - then2).to_sec() - obj_time
        rospy.loginfo("  Objects       : %fs" % obj_time)
        rospy.loginfo("  Packaging     : %fs" % packaging2_time)
        rospy.loginfo("Total             %fs" %
                      (rospy.Time.now() - then2).to_sec())

    return res