checkvisibility Module¶
Computes the visibilty extents of a camera and an object.
Running the Example:
openrave.py --example checkvisibility
Description¶
Uses the visibiltymodel generator and VisualFeedback - rmanipulation interface.
Command-line¶
Usage: openrave.py [options]
Computes if an object is visibile inside the robot cameras.
Options:
-h, --help show this help message and exit
--scene=SCENE Scene file to load
(default=data/testwamcamera.env.xml)
OpenRAVE Environment Options:
--loadplugin=_LOADPLUGINS
List all plugins and the interfaces they provide.
--collision=_COLLISION
Default collision checker to use
--physics=_PHYSICS physics engine to use (default=none)
--viewer=_VIEWER viewer to use (default=qtcoin)
--server=_SERVER server to use (default=None).
--serverport=_SERVERPORT
port to load server on (default=4765).
--module=_MODULES module to load, can specify multiple modules. Two
arguments are required: "name" "args".
-l _LEVEL, --level=_LEVEL, --log_level=_LEVEL
Debug level, one of
(fatal,error,warn,info,debug,verbose,verifyplans)
--testmode if set, will run the program in a finite amount of
time and spend computation time validating results.
Used for testing
Main Python Code¶
def main(env,options):
"Main example code."
env.Load(options.scene)
# initialiation
with env:
robot = env.GetRobots()[0]
# move a cup in front of another to show power of visibility
body = env.GetKinBody('mug6')
if body is not None:
T = body.GetTransform()
T[0:3,3] = [-0.14,0.146,0.938]
body.SetTransform(T)
vmodels = []
print 'creating visibility structures, please wait...'
sensors = []
for sensor in robot.GetAttachedSensors():
# if sensor is a camera
if sensor.GetSensor() is not None and sensor.GetSensor().Supports(Sensor.Type.Camera):
sensor.GetSensor().Configure(Sensor.ConfigureCommand.PowerOn)
sensor.GetSensor().Configure(Sensor.ConfigureCommand.RenderDataOn)
# go through all objects
for target in env.GetBodies():
# load the visibility model
vmodel = databases.visibilitymodel.VisibilityModel(robot,target=target,sensorname=sensor.GetName())
if not vmodel.load():
vmodel.autogenerate()
# set internal discretization parameters
vmodel.visualprob.SetParameter(raydensity=0.002,allowableocclusion=0.0)
vmodels.append(vmodel)
sensors.append(sensor.GetSensor())
print 'try moving objects in and out of the sensor view. green is inside'
while True:
print '-----'
with env:
handles = []
for vmodel in vmodels:
if vmodel.visualprob.ComputeVisibility():
# draw points around the object
ab = vmodel.target.ComputeAABB()
corners = array([[1,1,1],[1,1,-1],[1,-1,1],[1,-1,-1],[-1,1,1],[-1,1,-1],[-1,-1,1],[-1,-1,-1]],float64)
handles.append(env.plot3(tile(ab.pos(),(8,1))+corners*tile(ab.extents(),(8,1)),10,[0,1,0]))
print '%s is visible in sensor %s'%(vmodel.target.GetName(),vmodel.sensorname)
oldhandles = handles # replace
time.sleep(0.2)
Class Definitions¶
Questions/Feedback
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