fix(launch-dream-ros): capture_frame service calls global (+1 more)

[andrewwhitecdw]

Small fixes in scripts/launch_dream_ros.py:

fix: capture_frame service calls global dream_ros instead of self

Fix: Replace:

    def on_capture_frame(self, req):
        print("Capturing frame.")
        found_kp_projs_net_input = dream_ros.process_image()
        print(found_kp_projs_net_input)
        (
            kp_projs_raw_good_sample,
            kp_positions_good_sample,
        ) = dream_ros.keypoint_correspondences(found_kp_projs_net_input)
        if self.capture_frame_max_kps and kp_projs_raw_good_sample is not None:
            n_found_keypoints = kp_projs_raw_good_sample.shape[0]
            if n_found_keypoints != self.dream_network.n_keypoints:
                print(
                    "Only found {} keypoints -- not continuing. Try again.".format(
                        n_found_keypoints
                    )
                )
                return []
        if (
            kp_projs_raw_good_sample is not None
            and kp_positions_good_sample is not None
        ):
            dream_ros.solve_pnp_buffer(
                kp_projs_raw_good_sample, kp_positions_good_sample
            )
        return []

with:

    def on_capture_frame(self, req):
        print("Capturing frame.")
        found_kp_projs_net_input = self.process_image()
        if found_kp_projs_net_input is None:
            print("No image available yet -- not continuing.")
            return []
        print(found_kp_projs_net_input)
        (
            kp_projs_raw_good_sample,
            kp_positions_good_sample,
        ) = self.keypoint_correspondences(found_kp_projs_net_input)
        if self.capture_frame_max_kps and kp_projs_raw_good_sample is not None:
            n_found_keypoints = kp_projs_raw_good_sample.shape[0]
            if n_found_keypoints != self.dream_network.n_keypoints:
                print(
                    "Only found {} keypoints -- not continuing. Try again.".format(
                        n_found_keypoints
                    )
                )
                return []
        if (
            kp_projs_raw_good_sample is not None
            and kp_positions_good_sample is not None
        ):
            self.solve_pnp_buffer(
                kp_projs_raw_good_sample, kp_positions_good_sample
            )
        return []

fix: truthiness rejects keypoints at image coordinate zero

Fix: Replace:

            if (
                this_kp_proj_est is not None
                and this_kp_proj_est[0]
                and this_kp_proj_est[1]
                and not (this_kp_proj_est[0] < -999.0 and this_kp_proj_est[1] < 0.999)
            ):

with:

            if (
                this_kp_proj_est is not None
                and not (this_kp_proj_est[0] < -999.0 and this_kp_proj_est[1] < 0.999)
            ):

Files changed

• scripts/launch_dream_ros.py

[andrewwhitecdw]

Closing this sweep-generated PR: PR has 2 commits; sweep requires exactly one commit per PR. It does not meet the sweep requirements (single signed-off commit).