Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Prettify the style of rosparam for bbox publisher #1885

Merged
merged 1 commit into from
Sep 26, 2016
Merged

Prettify the style of rosparam for bbox publisher #1885

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
47 changes: 31 additions & 16 deletions jsk_recognition_utils/node_scripts/bounding_box_array_publisher.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,18 +17,33 @@ def __init__(self):
self.seq = 0

self.frame_id = rospy.get_param('~frame_id')
self.positions = rospy.get_param('~positions')
self.rotations = rospy.get_param('~rotations')
self.dimensions = rospy.get_param('~dimensions')
self.n_boxes = len(self.positions)
if len(self.rotations) != self.n_boxes:
rospy.logfatal('Number of ~rotations is expected as {}, but {}'
.format(self.n_boxes, len(self.rotations)))
sys.exit(1)
if len(self.dimensions) != self.n_boxes:
rospy.logfatal('Number of ~dimensions is expected as {}, but {}'
.format(self.n_boxes, len(self.dimensions)))
sys.exit(1)
if (rospy.has_param('~positions') or
rospy.has_param('~rotations') or
rospy.has_param('~dimensions')):
# Deprecated bounding box pose/dimension specification
rospy.logwarn("DEPRECATION WARNING: Rosparam '~positions', "
"'~rotations' and '~dimensions' are being "
"deprecated. Please use '~boxes' instead.")
positions = rospy.get_param('~positions')
rotations = rospy.get_param('~rotations')
dimensions = rospy.get_param('~dimensions')
if len(rotations) != len(positions):
rospy.logfatal('Number of ~rotations is expected as {}, but {}'
.format(len(positions), len(rotations)))
sys.exit(1)
if len(dimensions) != len(positions):
rospy.logfatal('Number of ~dimensions is expected as {}, but {}'
.format(len(positions), len(dimensions)))
sys.exit(1)
self.boxes = []
for pos, rot, dim in zip(positions, rotations, dimensions):
self.boxes.append({
'position': pos,
'rotation': rot,
'dimension': dim,
})
else:
self.boxes = rospy.get_param('~boxes')
self.pub = rospy.Publisher('~output', BoundingBoxArray, queue_size=1)

rate = rospy.get_param('~rate', 1)
Expand All @@ -39,11 +54,11 @@ def publish(self, event):
bbox_array_msg.header.seq = self.seq
bbox_array_msg.header.frame_id = self.frame_id
bbox_array_msg.header.stamp = event.current_real
for i_box in xrange(self.n_boxes):
pos = self.positions[i_box]
rot = self.rotations[i_box]
for box in self.boxes:
pos = box['position']
rot = box.get('rotation', [0, 0, 0])
qua = quaternion_from_euler(*rot)
dim = self.dimensions[i_box]
dim = box['dimension']

bbox_msg = BoundingBox()
bbox_msg.header.seq = self.seq
Expand Down
64 changes: 25 additions & 39 deletions jsk_recognition_utils/sample/sample_bounding_box_array_publisher.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,45 +11,31 @@
pkg="jsk_recognition_utils" type="bounding_box_array_publisher.py">
<rosparam>
frame_id: shelf_base
positions:
- [-0.22, 0.280, 0.361]
- [-0.22, 0, 0.361]
- [-0.22, -0.280, 0.361]
- [-0.22, 0.280, 0.116]
- [-0.22, 0, 0.116]
- [-0.22, -0.280, 0.116]
- [-0.22, 0.280, -0.116]
- [-0.22, 0, -0.116]
- [-0.22, -0.280, -0.116]
- [-0.22, 0.280, -0.361]
- [-0.22, 0, -0.361]
- [-0.22, -0.280, -0.361]
rotations:
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
- [0,0,0]
dimensions:
- [0.37, 0.248, 0.218]
- [0.37, 0.306, 0.218]
- [0.37, 0.248, 0.218]
- [0.37, 0.248, 0.192]
- [0.37, 0.306, 0.192]
- [0.37, 0.248, 0.192]
- [0.37, 0.248, 0.192]
- [0.37, 0.306, 0.192]
- [0.37, 0.248, 0.192]
- [0.37, 0.248, 0.218]
- [0.37, 0.306, 0.218]
- [0.37, 0.248, 0.218]
boxes:
- position: [-0.22, 0.280, 0.361]
dimension: [0.37, 0.248, 0.218]
- position: [-0.22, 0, 0.361]
dimension: [0.37, 0.306, 0.218]
- position: [-0.22, -0.280, 0.361]
dimension: [0.37, 0.248, 0.218]
- position: [-0.22, 0.280, 0.116]
dimension: [0.37, 0.248, 0.192]
- position: [-0.22, 0, 0.116]
dimension: [0.37, 0.306, 0.192]
- position: [-0.22, -0.280, 0.116]
dimension: [0.37, 0.248, 0.192]
- position: [-0.22, 0.280, -0.116]
dimension: [0.37, 0.248, 0.192]
- position: [-0.22, 0, -0.116]
dimension: [0.37, 0.306, 0.192]
- position: [-0.22, -0.280, -0.116]
dimension: [0.37, 0.248, 0.192]
- position: [-0.22, 0.280, -0.361]
dimension: [0.37, 0.248, 0.218]
- position: [-0.22, 0, -0.361]
dimension: [0.37, 0.306, 0.218]
- position: [-0.22, -0.280, -0.361]
dimension: [0.37, 0.248, 0.218]
</rosparam>
</node>

Expand Down