Debug odp service

Author: mDibyo

src/apc_controller.py

@@ -144,7 +144,7 @@ def execute_perception(self, bin_name, target_object):
 
         timestamp = utils.datetime_now_string()
 
-        perception_file = '{}.json'.format(timestamp)
+        perception_file = osp.join(self.perception_request_dir, '{}.json'.format(timestamp))
 
         with open(perception_file, 'w') as f:
             json.dump(perception_request, f)

src/perception/apc_odp_service.py

@@ -162,8 +162,8 @@ def process_detections(self, cloud_path, feature_path, calib_path, hypothesis_na
                     full_pcd = cloud_path
                     feat = feature_path
                     caminfo = calib_path
-                    js = self.detector.process(img, mask, pcd, full_pcd, feat, caminfo, '', '',
-                                               str(','.join(hypothesis_names)))
+                    js = self.detector.process_apc(img, mask, pcd, full_pcd, feat, caminfo, '', '',
+                                                   str(','.join(hypothesis_names)))
 
                     # check_call(['rm', pcd])
                     # check_call(['rm', pcd.replace('.pcd',  '.jpg')])
@@ -234,8 +234,8 @@ def detect_scene(self, image_path, depth_map_path, cloud_path, segment_base, det
             obj_ids.append(obj_id)
             poses.append(d['zz_pose_map'][obj_id])
 
-        viz_img = APCDetector.viz_detections(image_path, obj_ids, poses, rgb_K)
-        imsave('detections.png', viz_img)
+        # viz_img = APCDetector.viz_detections(image_path, obj_ids, poses, rgb_K)
+        # imsave('detections.png', viz_img)
 
         return obj_ids, poses
 
@@ -287,7 +287,10 @@ def run_pipeline(self, image_file, depth_file, transform_file, cubbyhole, hypoth
         poses = [self.get_pose_matrix(pose) for pose in poses]
 
         # Remove data
-        check_call(['rm', 'cloud.pcd', 'features.h5', 'detection_out.json', 'detections.png'])
+        check_call(['rm',
+                    # 'cloud.pcd',
+                    'features.h5',
+                    'detection_out.json'])
 
         return obj_ids, poses
 
@@ -359,10 +362,14 @@ def process_cubbyhole(self, event):
             print e
             return
 
-        object_poses_json = {obj_id: pose for obj_id, pose in zip(obj_ids, poses)}
-        object_poses_file = os.path.join(self.object_poses_directory, '{}.json'.format(cubbyhole_name))
+        object_poses_json = {obj_id: np.array(pose).tolist() for obj_id, pose in zip(obj_ids, poses)}
+        object_poses_file = os.path.join(self.object_poses_directory,
+                                         os.path.basename(event.src_path))
         with open(object_poses_file, 'w') as f:
-            json.dump(object_poses_json, f)
+            json.dump({
+                'bin_name': cubbyhole_name,
+                'object_poses': object_poses_json
+            }, f)
         if self.ssh_object_poses_directory is not None:
             check_call(['scp', object_poses_file, self.ssh_object_poses_directory])
 

src/rviz_marker_pose_service.py

@@ -80,8 +80,8 @@ def on_modified(self, event):
         if not event.is_directory:
             with open(event.src_path, 'r') as f:
                 bin = json.load(f)
-                bin_name = osp.splitext(osp.basename(event.src_path))[0]
-                self.bins[bin_name] = bin
+            bin_name = bin['bin_name']
+            self.bins[bin_name] = bin['object_poses']
 
     def handle_get_object_pose(self, req):
         bin_name = req.bin_name