Classes |
| class | hai_sandbox.test13_prosilica.ListenAndFindContactLocs |
Namespaces |
| namespace | hai_sandbox::test13_prosilica |
Variables |
| tuple | hai_sandbox::test13_prosilica.bridge = CvBridge() |
| tuple | hai_sandbox::test13_prosilica.cam_info = rospy.Publisher('/prosilica/camera_info', sm.CameraInfo) |
| tuple | hai_sandbox::test13_prosilica.contact_locs = ut.load_pickle('contact_locs_proc.pkl') |
| tuple | hai_sandbox::test13_prosilica.data_dict = ut.load_pickle(pickle_name) |
| tuple | hai_sandbox::test13_prosilica.et = ListenAndFindContactLocs() |
| tuple | hai_sandbox::test13_prosilica.idx = point_cloud_2d_tree.query(np.array(loc)) |
| tuple | hai_sandbox::test13_prosilica.image_message = bridge.cv_to_imgmsg(proc_surfed, "bgr8") |
| tuple | hai_sandbox::test13_prosilica.left_con_pc = ru.np_to_pointcloud(left_contact, '/base_footprint') |
| tuple | hai_sandbox::test13_prosilica.left_contact = np.column_stack(left_contact) |
| tuple | hai_sandbox::test13_prosilica.mid_contact_bf = (left_contact[:,0] + right_contact[:,0]) |
| list | hai_sandbox::test13_prosilica.pickle_name = sys.argv[2] |
| tuple | hai_sandbox::test13_prosilica.point_cloud = ru.pointcloud_to_np(data_dict['points']) |
| list | hai_sandbox::test13_prosilica.point_cloud_2d = data_dict['camera_info'] |
| tuple | hai_sandbox::test13_prosilica.point_cloud_2d_tree = sp.KDTree(np.array(point_cloud_2d.T)) |
| list | hai_sandbox::test13_prosilica.point_cloud_pro = data_dict['pro_T_bf'] |
| | get 3d locations of surf features, get closest surf feature to gripper tips
|
| tuple | hai_sandbox::test13_prosilica.points_pub = rospy.Publisher('/pc_snap_shot', sm.PointCloud) |
| tuple | hai_sandbox::test13_prosilica.proc_cam_info = ut.load_pickle('prosilica_caminfo.pkl') |
| tuple | hai_sandbox::test13_prosilica.proc_gray = fea.grayscale(proc_img) |
| tuple | hai_sandbox::test13_prosilica.proc_img = cv.LoadImage(proc_img_name) |
| list | hai_sandbox::test13_prosilica.proc_img_name = sys.argv[1] |
| tuple | hai_sandbox::test13_prosilica.proc_pub = rospy.Publisher('/prosilica/image_rect_color', sm.Image) |
| tuple | hai_sandbox::test13_prosilica.proc_surfed = fea.draw_surf(proc_img, sloc, (200, 0, 0)) |
| tuple | hai_sandbox::test13_prosilica.r = rospy.Rate(10) |
| tuple | hai_sandbox::test13_prosilica.right_con_pc = ru.np_to_pointcloud(right_contact, '/base_footprint') |
| tuple | hai_sandbox::test13_prosilica.right_contact = np.column_stack(right_contact) |
| list | hai_sandbox::test13_prosilica.surf_closest3d = surf_loc3d[:, surf_closest_idx] |
| list | hai_sandbox::test13_prosilica.surf_closest_fea = sloc[surf_closest_idx] |
| tuple | hai_sandbox::test13_prosilica.surf_closest_idx = surf_loc_tree_bf.query(np.array(mid_contact_bf.T)) |
| list | hai_sandbox::test13_prosilica.surf_loc3d = [] |
| tuple | hai_sandbox::test13_prosilica.surf_loc_tree_bf = sp.KDTree(np.array(surf_loc3d.T)) |
| tuple | hai_sandbox::test13_prosilica.touchll_pub = rospy.Publisher('touch_ll', sm.PointCloud) |
| tuple | hai_sandbox::test13_prosilica.touchlr_pub = rospy.Publisher('touch_lr', sm.PointCloud) |