Classes | |
| class | ListenAndFindContactLocs |
Variables | |
| tuple | bridge = CvBridge() |
| tuple | cam_info = rospy.Publisher('/prosilica/camera_info', sm.CameraInfo) |
| tuple | contact_locs = ut.load_pickle('contact_locs_proc.pkl') |
| tuple | data_dict = ut.load_pickle(pickle_name) |
| tuple | et = ListenAndFindContactLocs() |
| tuple | idx = point_cloud_2d_tree.query(np.array(loc)) |
| tuple | image_message = bridge.cv_to_imgmsg(proc_surfed, "bgr8") |
| tuple | left_con_pc = ru.np_to_pointcloud(left_contact, '/base_footprint') |
| tuple | left_contact = np.column_stack(left_contact) |
| tuple | mid_contact_bf = (left_contact[:,0] + right_contact[:,0]) |
| list | pickle_name = sys.argv[2] |
| tuple | point_cloud = ru.pointcloud_to_np(data_dict['points']) |
| list | point_cloud_2d = data_dict['camera_info'] |
| tuple | point_cloud_2d_tree = sp.KDTree(np.array(point_cloud_2d.T)) |
| list | point_cloud_pro = data_dict['pro_T_bf'] |
| get 3d locations of surf features, get closest surf feature to gripper tips | |
| tuple | points_pub = rospy.Publisher('/pc_snap_shot', sm.PointCloud) |
| tuple | proc_cam_info = ut.load_pickle('prosilica_caminfo.pkl') |
| tuple | proc_gray = fea.grayscale(proc_img) |
| tuple | proc_img = cv.LoadImage(proc_img_name) |
| list | proc_img_name = sys.argv[1] |
| tuple | proc_pub = rospy.Publisher('/prosilica/image_rect_color', sm.Image) |
| tuple | proc_surfed = fea.draw_surf(proc_img, sloc, (200, 0, 0)) |
| tuple | r = rospy.Rate(10) |
| tuple | right_con_pc = ru.np_to_pointcloud(right_contact, '/base_footprint') |
| tuple | right_contact = np.column_stack(right_contact) |
| list | surf_closest3d = surf_loc3d[:, surf_closest_idx] |
| list | surf_closest_fea = sloc[surf_closest_idx] |
| tuple | surf_closest_idx = surf_loc_tree_bf.query(np.array(mid_contact_bf.T)) |
| list | surf_loc3d = [] |
| tuple | surf_loc_tree_bf = sp.KDTree(np.array(surf_loc3d.T)) |
| tuple | touchll_pub = rospy.Publisher('touch_ll', sm.PointCloud) |
| tuple | touchlr_pub = rospy.Publisher('touch_lr', sm.PointCloud) |
| tuple hai_sandbox::test13_prosilica::bridge = CvBridge() |
Definition at line 160 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::cam_info = rospy.Publisher('/prosilica/camera_info', sm.CameraInfo) |
Definition at line 99 of file test13_prosilica.py.
| hai_sandbox::test13_prosilica::contact_locs = ut.load_pickle('contact_locs_proc.pkl') |
Definition at line 107 of file test13_prosilica.py.
Definition at line 91 of file test13_prosilica.py.
Definition at line 111 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::idx = point_cloud_2d_tree.query(np.array(loc)) |
Definition at line 138 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::image_message = bridge.cv_to_imgmsg(proc_surfed, "bgr8") |
Definition at line 161 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::left_con_pc = ru.np_to_pointcloud(left_contact, '/base_footprint') |
Definition at line 166 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::left_contact = np.column_stack(left_contact) |
Definition at line 145 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::mid_contact_bf = (left_contact[:,0] + right_contact[:,0]) |
Definition at line 147 of file test13_prosilica.py.
| list hai_sandbox::test13_prosilica::pickle_name = sys.argv[2] |
Definition at line 89 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::point_cloud = ru.pointcloud_to_np(data_dict['points']) |
Definition at line 102 of file test13_prosilica.py.
| list hai_sandbox::test13_prosilica::point_cloud_2d = data_dict['camera_info'] |
Definition at line 132 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::point_cloud_2d_tree = sp.KDTree(np.array(point_cloud_2d.T)) |
Definition at line 133 of file test13_prosilica.py.
| 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
import pdb pdb.set_trace()
Definition at line 130 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::points_pub = rospy.Publisher('/pc_snap_shot', sm.PointCloud) |
Definition at line 95 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::proc_cam_info = ut.load_pickle('prosilica_caminfo.pkl') |
Definition at line 92 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::proc_gray = fea.grayscale(proc_img) |
Definition at line 121 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::proc_img = cv.LoadImage(proc_img_name) |
Definition at line 120 of file test13_prosilica.py.
| list hai_sandbox::test13_prosilica::proc_img_name = sys.argv[1] |
Definition at line 88 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::proc_pub = rospy.Publisher('/prosilica/image_rect_color', sm.Image) |
Definition at line 98 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::proc_surfed = fea.draw_surf(proc_img, sloc, (200, 0, 0)) |
Definition at line 123 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::r = rospy.Rate(10) |
Definition at line 112 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::right_con_pc = ru.np_to_pointcloud(right_contact, '/base_footprint') |
Definition at line 167 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::right_contact = np.column_stack(right_contact) |
Definition at line 146 of file test13_prosilica.py.
Definition at line 151 of file test13_prosilica.py.
Definition at line 152 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::surf_closest_idx = surf_loc_tree_bf.query(np.array(mid_contact_bf.T)) |
Definition at line 150 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::surf_loc3d = [] |
Definition at line 136 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::surf_loc_tree_bf = sp.KDTree(np.array(surf_loc3d.T)) |
Definition at line 141 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::touchll_pub = rospy.Publisher('touch_ll', sm.PointCloud) |
Definition at line 96 of file test13_prosilica.py.
| tuple hai_sandbox::test13_prosilica::touchlr_pub = rospy.Publisher('touch_lr', sm.PointCloud) |
Definition at line 97 of file test13_prosilica.py.