From 66d0388b3eb327fc2367593afe9cdf89e1b9b6fb Mon Sep 17 00:00:00 2001 From: YUKINA-3252 Date: Wed, 27 Dec 2023 16:42:32 +0900 Subject: [PATCH] add tape stand template matching --- .../sample/pose_detector_auto_gen_sample.l | 25 ++++++++++++++++++- 1 file changed, 24 insertions(+), 1 deletion(-) diff --git a/jsk_perception/sample/pose_detector_auto_gen_sample.l b/jsk_perception/sample/pose_detector_auto_gen_sample.l index 3f2bce5b90..37f047b6c8 100755 --- a/jsk_perception/sample/pose_detector_auto_gen_sample.l +++ b/jsk_perception/sample/pose_detector_auto_gen_sample.l @@ -41,6 +41,14 @@ (send obj :name "jetson_box") obj)) +(defun make-tape-stand () + (let ((obj (make-cube 90 130 60))) + (setq aface (send obj :face 0)) + (send obj :paste-texture-to-face aface + :file "tape-stand.png") + (send obj :name "tape_stand") + obj)) + ;; < 2 > ;; . generate launch file (defun generate-launcher () @@ -54,15 +62,30 @@ "jetson-box.launch" :ns "/realsense_torso/color" :image-remap-args '(("image" "image_rect_color")) :gen-image-feature t - :image-topic "image_rect_color" + :image-topic "image_raw" :image-topic-transport "compressed" :gen-object-marker t + ;; :object-frame-id "/base" :object-frame-id "/base" :objectdetection-solve-tf t :objectdetection-remap-args '(("input/ObjectDetection" "ObjectDetection")) :object-builder (format nil "(make-cube ~A ~A ~A)" (elt (car (send obj :csg)) 1) (elt (car (send obj :csg)) 2) (elt (car (send obj :csg)) 3)) :publish-tf t )) + (let ((obj (make-tape-stand))) + (gen-all-launch (list obj) + "tape-stand.launch" :ns "/head_camera/rgb" + :image-remap-args '(("image" "image_raw")) + :gen-image-feature t + :image-topic "image_raw" + :image-topic-transport "compressed" + :gen-object-marker t + :object-frame-id "/WAIST" + :objectdetection-solve-tf t + :objectdetection-remap-args '(("input/ObjectDetection" "ObjectDetection")) + :object-builder (format nil "(make-cube ~A ~A ~A)" (elt (car (send obj :csg)) 1) (elt (car (send obj :csg)) 2) (elt (car (send obj :csg)) 3)) + :publish-tf t + )) ) (warn ";; (generate-launcher)~%")