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Update dbscan parameters

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This commit is contained in:
Michel Breyer 2021-11-09 15:10:42 +01:00
parent acabbfcbb4
commit b5f12baaba
1 changed files with 3 additions and 1 deletions
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4
src/active_grasp/controller.py
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@ -3,6 +3,7 @@ import copy
import cv_bridge import cv_bridge
from geometry_msgs.msg import Twist from geometry_msgs.msg import Twist
import numpy as np import numpy as np
import open3d as o3d
import rospy import rospy
from sensor_msgs.msg import Image from sensor_msgs.msg import Image
import trimesh import trimesh
@ -158,12 +159,13 @@ class GraspController:
_, inliers = cloud.segment_plane(0.01, 3, 1000) _, inliers = cloud.segment_plane(0.01, 3, 1000)
support_cloud = cloud.select_by_index(inliers) support_cloud = cloud.select_by_index(inliers)
cloud = cloud.select_by_index(inliers, invert=True) cloud = cloud.select_by_index(inliers, invert=True)
# o3d.io.write_point_cloud(f"{time.time():.0f}.pcd", cloud)
# Add collision object for the support # Add collision object for the support
self.add_collision_mesh("support", compute_convex_hull(support_cloud)) self.add_collision_mesh("support", compute_convex_hull(support_cloud))
# Cluster cloud # Cluster cloud
labels = np.array(cloud.cluster_dbscan(eps=0.02, min_points=10)) labels = np.array(cloud.cluster_dbscan(eps=0.01, min_points=8))
# Generate convex collision objects for each segment # Generate convex collision objects for each segment
self.hulls = [] self.hulls = []