From 13b04078d5d13617839bb9cddf1a3654032efd6d Mon Sep 17 00:00:00 2001
From: Rene Ebeling <hj703144@igmr.rwth-aachen.de>
Date: Fri, 24 Jan 2025 17:52:40 +0100
Subject: [PATCH] added another video
---
.../sensor_ws/src/ser_test/ser_test/pcl_rob_node.py | 9 ++++++---
1 file changed, 6 insertions(+), 3 deletions(-)
diff --git a/workspaces/sensor_ws/src/ser_test/ser_test/pcl_rob_node.py b/workspaces/sensor_ws/src/ser_test/ser_test/pcl_rob_node.py
index 95a46a5..39562a0 100644
--- a/workspaces/sensor_ws/src/ser_test/ser_test/pcl_rob_node.py
+++ b/workspaces/sensor_ws/src/ser_test/ser_test/pcl_rob_node.py
@@ -27,12 +27,12 @@ class PointCloudProcessor(Node):
self.tf_listener = TransformListener(self.tf_buffer, self)
# Load the STL file
- self.mesh_base_link = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/forearm.stl')
+ self.mesh_base_link = trimesh.load_mesh('/home/sochi/robot-sensor/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/shoulder.stl')
self.mesh_base_link.apply_scale(2)
self.bounding_box = self.mesh_base_link.bounding_box
def pointcloud_callback(self, msg):
- self.perspective_frame ='forearm_link'
+ self.perspective_frame ='shoulder_link'
try:
now = rclpy.time.Time().to_msg()
trans = self.tf_buffer.lookup_transform(self.perspective_frame, msg.header.frame_id, now, timeout=rclpy.duration.Duration(seconds=1.0))
@@ -41,7 +41,7 @@ class PointCloudProcessor(Node):
return
self.transformed_points = self.do_transform_cloud(msg, trans.transform)
- inside = self.bounding_box.contains(self.transformed_points)
+ inside = self.mesh_base_link.contains(self.transformed_points)
outside = np.logical_not(inside)
self.transformed_points =np.asanyarray(self.transformed_points)
points_valid = np.hstack((self.transformed_points, inside.reshape(256,1)))
@@ -59,6 +59,9 @@ class PointCloudProcessor(Node):
points = []
for point in list_of_tuples:
point = rotation.apply(point)
+ point[0] = point[0] + trans.translation.x
+ point[1] = point[1] + trans.translation.y
+ point[2] = point[2] + trans.translation.z
points.append(point)
return points
--
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