55 lines
1.6 KiB
Python
55 lines
1.6 KiB
Python
import numpy as np
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import rospy
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from robot_helpers.ros.rviz import *
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from robot_helpers.spatial import Transform
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from vgn.utils import *
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class Visualizer:
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def __init__(self, frame, topic="visualization_marker_array"):
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self.frame = frame
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self.marker_pub = rospy.Publisher(topic, MarkerArray, queue_size=1)
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self.scene_cloud_pub = rospy.Publisher("scene_cloud", PointCloud2, queue_size=1)
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def clear(self):
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marker = Marker(action=Marker.DELETEALL)
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self.draw([marker])
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def bbox(self, bbox):
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pose = Transform.translation((bbox.min + bbox.max) / 2.0)
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scale = bbox.max - bbox.min
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color = np.r_[0.8, 0.2, 0.2, 0.6]
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marker = create_cube_marker(self.frame, pose, scale, color, ns="bbox")
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self.draw([marker])
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def scene_cloud(self, frame, cloud):
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msg = to_cloud_msg(frame, np.asarray(cloud.points))
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self.scene_cloud_pub.publish(msg)
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def path(self, poses):
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color = np.r_[31, 119, 180] / 255.0
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points = [p.translation for p in poses]
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spheres = create_sphere_list_marker(
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self.frame,
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Transform.identity(),
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np.full(3, 0.01),
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color,
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points,
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"path",
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0,
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)
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lines = create_line_strip_marker(
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self.frame,
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Transform.identity(),
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[0.005, 0.0, 0.0],
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color,
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points,
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"path",
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1,
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)
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self.draw([spheres, lines])
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def draw(self, markers):
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self.marker_pub.publish(MarkerArray(markers=markers))
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