Added Chisel to the perception module #281
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…o perception/chisel
…ains helper function for performing transformations on detected objects.
…cs/prpy into perception/chisel
… to tf for offscreen render to use
| import rospy | ||
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| try: | ||
| rospy.init_node('chisel_detector',anonymous=True) |
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We shouldn't call init_node here because it may only be called once per process. I prefer calling init_node only once, in the top-level script, to prevent this from happening twice.
| # Remove any previous bodies in the camera | ||
| for b in self.camera_bodies: | ||
| self.camera.remove_body(b) | ||
| self.camera_bodies = [] |
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Why are these on self? It seems like a local variable would suffice.
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camera_bodies? It is the list of bodies that the camera has added since being started, and needs to have state between calls to DetectObject
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I've been starting to do this for our retimers/smoothers. See: |
…cs/prpy into perception/chisel
Conflicts: src/prpy/perception/chisel.py src/prpy/perception/kinbody_helper.py
…r to account for detection noise during masking
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I think we are ready to merge this. @Shushman and I checked that chisel is working. And I have verified simtrack also works with these changes. We should test vncc one more time to ensure I didn't introduce any bugs with by switching to use the
kinbody_helperfunctions. But in the meantime, lets start gathering comments on this PR and working it through.