removed plane in scene_points
This commit is contained in:
0nhc
parent
8dde7f6033
commit
bae70e1de0
@ -424,7 +424,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.094533920288086
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Distance: 2.0648767948150635
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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@ -432,17 +432,17 @@ Visualization Manager:
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 0.32280832529067993
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Y: 0.16504701972007751
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Z: 0.43913549184799194
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X: -0.054327137768268585
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Y: -0.14501728117465973
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Z: 0.2944410443305969
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Focal Shape Fixed Size: false
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.2053970992565155
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Pitch: 0.3053985834121704
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Target Frame: <Fixed Frame>
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Yaw: 0.8653952479362488
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Yaw: 0.7053982615470886
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Saved:
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- Class: rviz/Orbit
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Distance: 1.2000000476837158
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@ -482,5 +482,5 @@ Window Geometry:
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Views:
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collapsed: true
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Width: 1095
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X: 1260
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Y: 27
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X: 1273
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Y: 127
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@ -3,7 +3,7 @@ bt_sim:
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gripper_force: 10
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# scene: random
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# scene: manual
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scene: $(find active_grasp)/cfg/sim/challenging_scene_3.yaml
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scene: $(find active_grasp)/cfg/sim/challenging_scene_6.yaml
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hw:
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roi_calib_file: $(find active_grasp)/cfg/hw/T_base_tag.txt
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11
cfg/sim/challenging_scene_4.yaml
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11
cfg/sim/challenging_scene_4.yaml
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@ -0,0 +1,11 @@
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center: [0.5, 0.0, 0.25]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: ycb/006_mustard_bottle
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xyz: [-0.05, 0.0, 0.1]
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rpy: [0, 0, 0]
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scale: 0.5
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- object_id: active_perception/shelf1
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xyz: [-0.05, 0.0, 0.0]
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rpy: [0, 0, 45]
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scale: 0.5
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11
cfg/sim/challenging_scene_5.yaml
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11
cfg/sim/challenging_scene_5.yaml
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@ -0,0 +1,11 @@
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center: [0.5, 0.0, 0.25]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: ycb/006_mustard_bottle
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xyz: [-0.1, 0.0, 0.1]
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rpy: [0, 0, 0]
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scale: 0.5
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- object_id: active_perception/cabinet1
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xyz: [-0.1, 0.0, 0.0]
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rpy: [0, 0, 45]
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scale: 0.5
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11
cfg/sim/challenging_scene_6.yaml
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11
cfg/sim/challenging_scene_6.yaml
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@ -0,0 +1,11 @@
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center: [0.5, 0.0, 0.25]
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q: [0.0, -1.39, 0.0, -2.36, 0.0, 1.57, 0.79]
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objects:
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- object_id: ycb/006_mustard_bottle
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xyz: [0.0, 0.05, 0.05]
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rpy: [0, 0, -45]
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scale: 0.5
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- object_id: active_perception/cabinet2
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xyz: [0.1, 0.0, 0.0]
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rpy: [0, 0, 45]
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scale: 0.25
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1149
gsnet_input_points.txt
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1149
gsnet_input_points.txt
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File diff suppressed because it is too large
Load Diff
41776
scene_points.txt
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41776
scene_points.txt
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File diff suppressed because it is too large
Load Diff
@ -217,13 +217,27 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
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# Visualize Initial Camera Pose
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self.vis_cam_pose(x)
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self.publish_pointcloud([[0,0,0]])
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# When policy hasn't produced an available grasp
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while(self.updated == False):
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# Clear visualization points
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self.publish_pointcloud([[0,0,0]])
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# Inference with our model
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self.target_points, self.scene_points = self.depth_image_to_ap_input(img, seg, target_id)
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ap_input = {'target_pts': self.target_points,
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'scene_pts': self.scene_points}
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# save point cloud
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target_points = self.target_points.cpu().numpy()[0,:,:]
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scene_points = self.scene_points.cpu().numpy()[0,:,:]
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self.publish_pointcloud(scene_points)
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time.sleep(10000000)
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np.savetxt("target_points.txt", target_points, delimiter=",")
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np.savetxt("scene_points.txt", scene_points, delimiter=",")
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ap_output = self.ap_inference_engine.inference(ap_input)
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delta_rot_6d = ap_output['estimated_delta_rot_6d']
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@ -268,7 +282,12 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
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radius=target_points_radius)
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# gsnet_input_points = target_points_list
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# gsnet_input_points = merged_points_list
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self.publish_pointcloud([[0,0,0]])
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self.publish_pointcloud(gsnet_input_points)
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# save point cloud as .txt
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np.savetxt("gsnet_input_points.txt", gsnet_input_points, delimiter=",")
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received_points = False
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while(received_points == False):
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gsnet_grasping_poses = np.asarray(self.request_grasping_pose(gsnet_input_points))
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@ -320,6 +339,7 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
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self.best_grasp = None
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self.vis.clear_grasp()
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self.done = True
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self.publish_pointcloud([[0,0,0]])
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def publish_grasps(self, gg):
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marker_array = MarkerArray()
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@ -456,12 +476,14 @@ class ActivePerceptionSingleViewPolicy(SingleViewPolicy):
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x = x_mat[i][j]
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y = y_mat[i][j]
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z = z_mat[i][j]
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if(int(seg_id) == int(target_id)):
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# This pixel belongs to the target object to be grasped
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target_points.append([x,y,z])
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else:
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# no background and no plane
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if(int(seg_id) != int(255) and int(seg_id) != int(1)):
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# This pixel belongs to the scene
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scene_points.append([x,y,z])
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if(int(seg_id) == int(target_id)):
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# This pixel belongs to the target object to be grasped
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target_points.append([x,y,z])
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target_points = np.asarray(target_points)
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target_points = target_points.reshape(1, target_points.shape[0], 3)
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365
target_points.txt
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365
target_points.txt
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@ -0,0 +1,365 @@
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||||
Loading…
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Reference in New Issue
Block a user