f3b_rob_cam_members.py

# PYTHON IMPORTS
import json

# LOCAL IMPORTS
from src.robot_camera import robot_camera_aquisition

from src.io import _generate_range

from src.process_pcd import (
    pcd_stitch_individual_rob,
    pcd_stitch_combine_rob,
)


def aquisition_members(rob_nums, save_config_n=False, pose_range=False, transform=False):
    """perform camera aquisition for the post-disassembly scanning process"""

    folders = [
        "configs/stitch_members/R{}",
        "data/stitch_members/R{}",
        "input_settings",
        "transformations",  # needed if transformation specified
    ]

    filenames = [
        "stitch_members_{0:0{width}}.json",
        "pos{:02d}.yaml",
        "img{:02d}",  # if transformation, save .ply, otherwise .zdf
        "capture_settings_z{}_shed.yml",
        "R{}_H2_tool0_cam.yaml",  # needed if transformation specified (hard-coded)
        "R{}_H4_world0_rbase.yaml",  # needed if transformation specified (hard-coded)
    ]

    robot_camera_aquisition(rob_nums, folders, filenames, save_config_n, pose_range, transform)


def stitch_members(rob_nums, stitch=False, stitch_full=False, pose_range=False, vis_on=False):
    folders = [
        "transformations",
        "configs/stitch_members/R{}",
        "data/stitch_members/R{}",
        "data/stitch_members",
    ]
    filenames = [
        "img{:02d}.zdf",
        "img{:02d}_trns.ply",
        "R{}_H2_tool0_cam.yaml",
        "pos{:02d}.yaml",
        "R{}_H4_world0_rbase.yaml",
        "_R{}_pcd_stitched.pts",
        "_o3d_view_settings_R{}.json",
        "_o3d_view_settings_full.json",
        "pcd_full.pts",
    ]

    pose_range = _generate_range(folders[1].format(rob_nums[0]), pose_range)

    if stitch:
        # HD
        pcd_vars = {
            "voxels": 0.0005,
            "neighbors": 8,
            "std_dev": 2.0,
            "radius": 0.08,
            "radius_pnts": 30,
        }

        # LD
        # pcd_vars = {
        #     "voxels": 0.005,
        #     "neighbors": 20,
        #     "std_dev": 1.0,
        #     "radius": 0.08,
        #     "radius_pnts": 30,
        # }

        pcd_stitch_individual_rob(rob_nums, pose_range, folders, filenames, pcd_vars, vis_on)

    if stitch_full:
        # HD
        pcd_vars = {
            "voxels": 0.001,
            "neighbors": 30,
            "std_dev": 2.0,
            "radius": 0.08,
            "radius_pnts": 30,
        }

        # LD
        pcd_vars = {
            "voxels": 0.010,
            "neighbors": 30,
            "std_dev": 2.0,
            "radius": 0.08,
            "radius_pnts": 30,
        }

        pcd_stitch_combine_rob(folders, filenames, pcd_vars, vis_on)


if __name__ == "__main__":
    rob_nums = [1]

    # set "save_config_n" to FALSE to execute aquisition

    # aquisition_members(rob_nums, save_config_n=False, pose_range=range(26, 31), transform=True)

    stitch_members(
        rob_nums,
        stitch=True,
        stitch_full=False,
        vis_on=True,
    )