Edge Processing #123
Edge Processing #123
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…entation to find_surfaces_old. Changed getBoundaryTrajectory return type to Eigen::Matrix4d to better interface with existing descartes planning Changed signatures for generateProcessPath and requestEdgePath to allow for new edge detection implementation
Made gode_surface_detection a required node Tuning for edge detection with ensenso.
…r blending and edge paths to the surface normal (Assumes part is planar) Added publisher for visualization and added the ability to clear blend and edge visualizations on re-scan
…and removed previous CollisionGuard checks
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| if (obeys_limits) | ||
| { | ||
| if (isValid(sol)) |
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Note to self: Move all of these custom kinematics classes to the Descartes IKFast adapter.
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| #ifndef SURFACE_SEGMENTATION_H | |||
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It appears all of the new edge stuff is stuffed into one big header. We should look at:
- Adding one or more implementation files
- Putting this library into its own package
Aside from cleanly dividing impl from interface, this will also help us reduce build times which are getting pretty steep for this project.
At a high level, I'd like to begin building a library of useful tools to do much of this work.
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I can do this before I merge my changes with @woodaaron 's repository.
| /** @class world_background_subtraction | ||
| @brief Maintains record of baseline sensor data to provide method to remove them leaving only new objects in the scene | ||
| */ | ||
| class surfaceSegmentation |
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I hate to be stickler, but naming conventions for something like this is important: Should be SurfaceSegmentation.
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I can take care of this too.
| { | ||
| input_cloud_ = pcl::PointCloud<pcl::PointXYZ>::Ptr(new pcl::PointCloud<pcl::PointXYZ>); | ||
| normals_ = pcl::PointCloud<pcl::Normal>::Ptr(new pcl::PointCloud<pcl::Normal>); | ||
| input_cloud_->clear(); |
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This stuff is unnecessary. The shared pointers will be de-allocated automatically.
| normals_ = pcl::PointCloud<pcl::Normal>::Ptr(new pcl::PointCloud<pcl::Normal>); | ||
| setInputCloud(icloud); | ||
| removeNans(); | ||
| computeNormals(); |
| } | ||
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| bool SurfaceDetection::find_surfaces_old() |
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Unless there is a good reason to keep this around in the active code, we should dispense with the original functions.
| Eigen::Affine3d result; | ||
| // Get boundary trajectory and trim last two poses (last poses are susceptible to large velocity changes) | ||
| SS.getBoundaryTrajectory(boundaries, index, poses); | ||
| poses.resize(poses.size() - 2); |
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We should assert that poses.size() is bigger than 2.
We should understand why the last points are wonky, if they are.
| k++; | ||
| } | ||
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| ROS_INFO_STREAM("Cloud has " + std::to_string(boundary_cloud_ptr->points.size()) + " boundary points\n"); |
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Just use the operator<< overload rather than to_string.
| int max=0; | ||
| int max_idx=0; | ||
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| for(int i=0;i<sorted_boundaries.size();i++) |
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The results of this for loop don't seem to go anywhere
| /* | ||
| * Set the orientation for all edge points to be the orientation of the surface normal | ||
| * This is a hack that should be removed when planar surfaces assumption is dropped | ||
| * The main purpose here is to "smooth" the trajectory of the edges w.r.t. the z axis |
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We should open an issue to address this assumption
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Merging, will open issues @woodaaron Please add the next one. |
Incorporates CLewis' surface segmentation for edge detection and following.