def processSnippet():

    obj = om.getOrCreateContainer('continuous')
    om.getOrCreateContainer('cont debug', obj)

    if (continuouswalkingDemo.processContinuousStereo):
        polyData = ioUtils.readPolyData(os.path.join(dataDir, 'terrain/block_snippet_stereo.vtp'))
        polyData = segmentation.applyVoxelGrid(polyData, leafSize=0.01)
    else:
        polyData = ioUtils.readPolyData(os.path.join(dataDir, 'terrain/block_snippet.vtp'))


    vis.updatePolyData( polyData, 'walking snapshot trimmed', parent='continuous')
    standingFootName = cwdemo.ikPlanner.leftFootLink

    standingFootFrame = robotStateModel.getLinkFrame(standingFootName)
    vis.updateFrame(standingFootFrame, standingFootName, parent='continuous', visible=False)

    # Step 2: find all the surfaces in front of the robot (about 0.75sec)
    clusters = segmentation.findHorizontalSurfaces(polyData)
    if (clusters is None):
        print "No cluster found, stop walking now!"
        return

    # Step 3: find the corners of the minimum bounding rectangles
    blocks,match_idx,groundPlane = cwdemo.extractBlocksFromSurfaces(clusters, standingFootFrame)

    footsteps = cwdemo.placeStepsOnBlocks(blocks, groundPlane, standingFootName, standingFootFrame)

    cwdemo.drawFittedSteps(footsteps)
    # cwdemo.sendPlanningRequest(footsteps)


#navigationPanel = navigationpanel.init(robotStateJointController, footstepsDriver)
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testContinuousWalking.py/processSnippet/original