迁移数据采集节点至vision_tools，修改点下采样参数

vision_detect/configs/launch_configs/medical_sense.json

@@ -25,6 +25,6 @@
     "PCA_configs": {
         "depth_scale": 1000.0,
         "depth_trunc": 3.0,
-        "voxel_size": 0.010
+        "voxel_size": 0.001
     }
 }

vision_detect/setup.py

@@ -15,7 +15,6 @@ setup(
         ('share/' + package_name + '/configs/flexiv_configs', glob('configs/flexiv_configs/*.json')),
         ('share/' + package_name + '/configs/hand_eye_mat', glob('configs/hand_eye_mat/*.json')),
         ('share/' + package_name + '/configs/launch_configs', glob('configs/launch_configs/*.json')),
-        ('share/' + package_name + '/configs/other_configs', glob('configs/other_configs/*.json')),
 
         ('share/' + package_name + '/checkpoints', glob('checkpoints/*.pt')),
         ('share/' + package_name + '/checkpoints', glob('checkpoints/*.onnx')),
@@ -43,9 +42,6 @@ setup(
             'get_camera_pose_node = vision_detect.get_camera_pose:main',
             
             'detect_node = vision_detect.detect_node:main',
-
-            'collect_data_node = vision_detect.collect_data_node:main',
-            'collect_data_client = vision_detect.collect_data_client:main',
         ],
     },
 )

vision_detect/vision_detect/VisionDetect/utils/calculate_tools.py

@@ -1,7 +1,7 @@
 """计算工具"""
 import logging
 
-import cv2
+# import cv2
 import numpy as np
 import open3d as o3d
 import transforms3d as tfs
@@ -53,7 +53,7 @@ def calculate_pose_pca(
         depth_trunc=kwargs.get("depth_trunc", 3.0),
     )
 
-    point_cloud = point_cloud_denoising(point_cloud, kwargs.get("voxel_size", 0.005))
+    point_cloud = point_cloud_denoising(point_cloud, kwargs.get("voxel_size", 0.002))
     if point_cloud is None:
         return None, [0.0, 0.0, 0.0]
 
@@ -158,11 +158,11 @@ def point_cloud_denoising(point_cloud: o3d.geometry.PointCloud, voxel_size: floa
     """点云去噪"""
     point_cloud = point_cloud.remove_non_finite_points()
     while True:
-        down_pcd = point_cloud.voxel_down_sample(voxel_size=voxel_size * 0.5)
+        down_pcd = point_cloud.voxel_down_sample(voxel_size=voxel_size)
         point_num = len(down_pcd.points)
         if point_num <= 1000:
             break
-        voxel_size *= 2
+        voxel_size *= 4
 
     # logging.fatal("point_cloud_denoising: point_num={}".format(len(point_cloud.points)))
     # logging.fatal("point_cloud_denoising: point_num={}".format(point_num))
@@ -170,7 +170,7 @@ def point_cloud_denoising(point_cloud: o3d.geometry.PointCloud, voxel_size: floa
     # 半径滤波
     clean_pcd, _ = down_pcd.remove_radius_outlier(
         nb_points=10,
-        radius=voxel_size * 5
+        radius=voxel_size * 10
         )
 
     # 统计滤波
@@ -189,7 +189,7 @@ def point_cloud_denoising(point_cloud: o3d.geometry.PointCloud, voxel_size: floa
     # if largest_cluster_ratio < 0.5:
     #     return None
 
-    labels = np.array(clean_pcd.cluster_dbscan(eps=voxel_size * 5, min_points=10))
+    labels = np.array(clean_pcd.cluster_dbscan(eps=voxel_size * 10, min_points=10))
     if len(labels[labels >= 0]) == 0:
         return clean_pcd
 

vision_tools/configs/collect_data_node.json

@@ -1,5 +1,5 @@
 {
-  "save_path": "/collect_data",
+  "save_path": "collect_data",
   "left": {
     "color": "/camera/camera/color/image_raw",
     "depth": "/camera/camera/aligned_depth_to_color/image_raw",

vision_tools/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>vision_tools</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="16126883+liangyuxuan123@user.noreply.gitee.com">lyx</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

vision_tools/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/vision_tools
+[install]
+install_scripts=$base/lib/vision_tools

vision_tools/setup.py

@@ -0,0 +1,28 @@
+from glob import glob
+from setuptools import find_packages, setup
+
+package_name = 'vision_tools'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        ('share/' + package_name + '/configs', glob('configs/*.json')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='lyx',
+    maintainer_email='lyx@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'collect_data_node = vision_tools.collect_data_node:main',
+            'collect_data_client = vision_tools.collect_data_client:main',
+        ],
+    },
+)

vision_tools/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

vision_tools/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

vision_tools/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

vision_tools/vision_tools/collect_data_node.py

@@ -13,7 +13,7 @@ from sensor_msgs.msg import Image, CameraInfo
 from std_srvs.srv import SetBool
 
 
-share_dir = get_package_share_directory('vision_detect')
+share_dir = get_package_share_directory('vision_tools')
 
 class CollectDataNode(Node):
     def __init__(self):
@@ -56,7 +56,7 @@ class CollectDataNode(Node):
         self.left_writer_initialized = False
         self.head_writer_initialized = False
 
-        with open(os.path.join(share_dir, 'configs/other_configs/collect_data_node.json'), 'r')as f:
+        with open(os.path.join(share_dir, 'configs/collect_data_node.json'), 'r')as f:
             configs = json.load(f)
 
         home_path = os.path.expanduser("~")
@@ -117,6 +117,7 @@ class CollectDataNode(Node):
 
 
         self.service = self.create_service(SetBool, "/collect_data", self.service_callback)
+        self.get_logger().info("Success start")
 
     def service_callback(self, request, response):
         # Start collect data
@@ -203,6 +204,7 @@ class CollectDataNode(Node):
             self.collect_sign = True
             response.success = True
             response.message = "start collecting data"
+            self.get_logger().info("start collecting data")
             return response
 
         if self.left_sign:
@@ -269,6 +271,7 @@ class CollectDataNode(Node):
         self.save_sign = True
         response.success = False
         response.message = "stop collecting data"
+        self.get_logger().info("stop collecting data")
         return response
 
     def left_callback(self, color_msg, depth_msg):