From 9ed4707d2aca8ba9853ce2b018b201fdf947f19d Mon Sep 17 00:00:00 2001 From: Laura Lindzey Date: Wed, 11 Dec 2013 17:15:25 -0800 Subject: [PATCH] removing TODO's that were replaced by github issues; updating comments to explain magic number --- clear_table/src/clear_table/scene_handler.py | 3 --- clear_table/src/clear_table/sensor_handler.py | 2 ++ 2 files changed, 2 insertions(+), 3 deletions(-) diff --git a/clear_table/src/clear_table/scene_handler.py b/clear_table/src/clear_table/scene_handler.py index 10da8e4..e209f89 100644 --- a/clear_table/src/clear_table/scene_handler.py +++ b/clear_table/src/clear_table/scene_handler.py @@ -1,9 +1,6 @@ # This is a utility class that handles all the sensor and PlanningScene interaction # for the clear_table state machine -# TODO: need to parameterize l/r arm for adding objects -# TODO: also need to parameterize world frame ... - import sys import rospy diff --git a/clear_table/src/clear_table/sensor_handler.py b/clear_table/src/clear_table/sensor_handler.py index 9eee62f..f7f0400 100644 --- a/clear_table/src/clear_table/sensor_handler.py +++ b/clear_table/src/clear_table/sensor_handler.py @@ -76,6 +76,8 @@ def get_point_cloud(self, data, mask): for ii in range(data.points.width): pt = pt_gen.next() if not math.isnan(pt[0]): + # From openCV, used by Grabcut to mask image. + # cv::GC_BGD = 0, cv::GC_FGD = 1, cv::GC_PR_BGD = 2, CV::GC_PR_FGC = 3 if (img[jj,ii] == 1 or img[jj,ii]==3): out_pts.append(pt[0:3]) print "done creating output point cloud"