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Roslaunch compatibility and module paths #1

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Roslaunch compatibility and module paths #1

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89cc535
Handle roslaunch generated arguments
compiaffe Feb 22, 2018
370e3f3
Add launchfile and default for arguments
compiaffe Feb 22, 2018
aadd98b
Add launchfile and default for arguments
compiaffe Feb 22, 2018
3d8197b
Handle all roslaunch arguments in single arparse
compiaffe Feb 23, 2018
84d3e61
Handle all roslaunch arguments in single arparse
compiaffe Feb 23, 2018
be3af61
Bugfix
compiaffe Feb 23, 2018
3590527
Bugfix
compiaffe Feb 23, 2018
d4787ba
Merge branch 'roslaunch' of github.com:compiaffe/pc_object_completion…
compiaffe Feb 23, 2018
c4d15da
Fix python module path
compiaffe Feb 23, 2018
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7 changes: 7 additions & 0 deletions launch/mesh_completion_server.launch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@

<launch>
<node pkg="pc_object_completion_cnn" type="mesh_completion_server.py" name="pc_cnn_mesh" args="depth">
<!-- arguments define which CNN gets used, options are depth and depth_and_tactile -->
</node>
depth
</launch>
20 changes: 14 additions & 6 deletions scripts/shape_completion_server/mesh_completion_server.py
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Original file line number Diff line number Diff line change
Expand Up @@ -117,7 +117,7 @@ def completion_cb(self, goal):
dtype=np.float32)
batch_x[0, :, :, :, 0] = partial_vox.data


if self.flip_batch_x:
rospy.loginfo("Flipping Batch X, if performance is poor,\
try setting flip_batch_x=False")
Expand Down Expand Up @@ -198,10 +198,10 @@ def completion_cb(self, goal):
parser = argparse.ArgumentParser(
description="Complete a partial object view")
parser.add_argument(
"ns",
"-ns",
type=str,
help=
"Namespace used to create action server, also determines what model to load. Ex: depth, depth_and_tactile"
default="depth",
help= "Namespace used to create action server, also determines what model to load. Ex: depth, depth_and_tactile"
)
parser.add_argument(
"--flip_batch_x",
Expand All @@ -210,18 +210,26 @@ def completion_cb(self, goal):
help=
"Z+ should be extending away from the camera, sometime binvox files have this as Y+ and need to be rotated. "
)
parser.add_argument(
"roslaunch arguments",
type=str,
default=" ",
nargs="*",
help=
""
)
args = parser.parse_args()
cnns = {
"depth": {
"cnn_python_module":
"shape_completion_server.trained_models.depth_y17_m05_d26_h14_m22_s35_bare_keras_v2.reconstruction_network",
"trained_models.depth_y17_m05_d26_h14_m22_s35_bare_keras_v2.reconstruction_network",
"weights_filepath":
rospkg.RosPack().get_path('pc_object_completion_cnn') +
'/scripts/shape_completion_server/trained_models/depth_y17_m05_d26_h14_m22_s35_bare_keras_v2/best_weights.h5'
},
"depth_and_tactile": {
"cnn_python_module":
"shape_completion_server.trained_models.depth_and_tactile_y17_m08_d09_h15_m55_s53_bare_keras_v2.reconstruction_network",
"trained_models.depth_and_tactile_y17_m08_d09_h15_m55_s53_bare_keras_v2.reconstruction_network",
"weights_filepath":
rospkg.RosPack().get_path('pc_object_completion_cnn') +
'/scripts/shape_completion_server/trained_models/depth_and_tactile_y17_m08_d09_h15_m55_s53_bare_keras_v2/best_weights.h5'
Expand Down