minor fixes of generator and mesh

gen_locations_on_mesh/gen_locations_on_mesh/gen_locations_on_mesh_node.py

@@ -185,7 +185,6 @@ class GenLocationsOnMeshNode(Node):
         self.dropped_points = {}
 
         self.declare_parameter('mesh_filename', '')
-        self.declare_parameter('cache_filename', '')
         self.declare_parameter('init_number_of_points', 10)
         self.declare_parameter('max_z_coord', 2.)
         self.declare_parameter('min_distance_between_points', 2.)
@@ -246,7 +245,7 @@ class GenLocationsOnMeshNode(Node):
     def _load_data(self):
         '''загрузка мэша и его предобработка'''
         # сначала пытаемся загрузить кэшированный вариант
-        cache_filename = self.get_parameter('cache_filename').get_parameter_value().string_value
+        cache_filename = self.get_parameter('mesh_filename').get_parameter_value().string_value + '.pkl'
         try:
             with open(cache_filename, 'rb') as f:
                 dt = pickle.load(f)
@@ -260,10 +259,11 @@ class GenLocationsOnMeshNode(Node):
             self.vs = mesh.vertices
             self.trs = get_all_triangles_with_correct_orientation(mesh.vertices,
                                                                 mesh.faces,
-                                                                0.1)
+                                                                1.5)
-            conns = calc_connections(self.trs)
+            #conns = calc_connections(self.trs)
-            pieces = calc_pieces(self.trs, conns)
+            #pieces = calc_pieces(self.trs, conns)
-            self.the_piece = find_largest_piece(pieces)
+            #self.the_piece = find_largest_piece(pieces)
+            self.the_piece = list(range(len(self.trs)))
             # сохраняем кэш
             try:
                 with open(cache_filename, 'wb') as f:

gen_locations_on_mesh/launch/mesh_loc_generator.py

@@ -6,21 +6,17 @@ from launch_ros.substitutions import FindPackageShare
 
 def generate_launch_description():
     package_name = 'gen_locations_on_mesh'
-    #mesh_file = 'raw_surface.ply'
+    mesh_file = 'sirius_scene_floor_and_objs.ply'
-    mesh_file = 'sirius_scene_floor.ply'
-    cache_file = 'cache.pkl'
 
     # файл карты для загрузки
     pkg_share = FindPackageShare(package=package_name).find(package_name)
     mesh_path = os.path.join(pkg_share, 'share', mesh_file)
-    cache_path = os.path.join(pkg_share, 'share', cache_file)
 
     start_gen_location_on_mesh_cmd = Node(
       name='gen_locations_on_mesh',
       package='gen_locations_on_mesh',
       executable='gen_locations_on_mesh',
       parameters=[{'mesh_filename': mesh_path,
-                   'cache_filename': cache_path,
                    'init_number_of_points': 20,
                    'max_z_coord': 2.}])