210 lines
6.4 KiB
Python
210 lines
6.4 KiB
Python
from geometry_msgs.msg import PoseArray
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import matplotlib.colors
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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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cmap = matplotlib.colors.LinearSegmentedColormap.from_list("RedGreen", ["r", "g"])
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class Visualizer:
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def __init__(self, topic="visualization_marker_array"):
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self.marker_pub = rospy.Publisher(topic, MarkerArray, queue_size=1)
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self.scene_cloud_pub = rospy.Publisher(
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"scene_cloud",
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PointCloud2,
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latch=True,
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queue_size=1,
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)
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self.map_cloud_pub = rospy.Publisher(
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"map_cloud",
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PointCloud2,
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latch=True,
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queue_size=1,
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)
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self.quality_pub = rospy.Publisher("quality", PointCloud2, queue_size=1)
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def clear(self):
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self.draw([Marker(action=Marker.DELETEALL)])
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msg = to_cloud_msg("panda_link0", np.array([]))
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self.scene_cloud_pub.publish(msg)
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self.map_cloud_pub.publish(msg)
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self.quality_pub.publish(msg)
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rospy.sleep(0.1)
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def draw(self, markers):
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self.marker_pub.publish(MarkerArray(markers=markers))
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def bbox(self, frame, 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(frame, pose, scale, color, ns="bbox")
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self.draw([marker])
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def grasps(self, frame, grasps, scores):
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if len(grasps) == 0:
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return
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smin, smax = min(scores), max(scores)
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markers = []
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for i, (grasp, score) in enumerate(zip(grasps, scores)):
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color = cmap((score - smin) / (smax - smin))
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markers += create_grasp_markers(frame, grasp, color, "grasps", 4 * i)
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self.draw(markers)
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def rays(self, frame, origin, directions, t_max=1.0):
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lines = [[origin, origin + t_max * direction] for direction in directions]
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marker = create_line_list_marker(
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frame,
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Transform.identity(),
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[0.002, 0.0, 0.0],
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[0.6, 0.6, 0.6],
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lines,
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"rays",
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)
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self.draw([marker])
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def map_cloud(self, frame, cloud):
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points = np.asarray(cloud.points)
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distances = np.expand_dims(np.asarray(cloud.colors)[:, 0], 1)
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msg = to_cloud_msg(frame, points, distances=distances)
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self.map_cloud_pub.publish(msg)
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def path(self, frame, 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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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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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 point(self, frame, point):
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marker = create_sphere_marker(
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frame,
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Transform.translation(point),
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np.full(3, 0.01),
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[0, 0, 1],
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"point",
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)
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self.draw([marker])
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def quality(self, frame, voxel_size, quality):
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points, values = grid_to_map_cloud(voxel_size, quality, threshold=0.9)
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values = (values - 0.9) / (1.0 - 0.9) # to increase contrast
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msg = to_cloud_msg(frame, points, intensities=values)
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self.quality_pub.publish(msg)
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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 views(self, frame, intrinsic, views, values):
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vmin, vmax = min(values), max(values)
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scale = [0.002, 0.0, 0.0]
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near, far = 0.0, 0.02
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markers = []
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for i, (view, value) in enumerate(zip(views, values)):
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color = cmap((value - vmin) / (vmax - vmin))
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marker = create_cam_view_marker(
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frame,
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view,
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scale,
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color,
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intrinsic,
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near,
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far,
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ns="views",
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id=i,
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)
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markers.append(marker)
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self.draw(markers)
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def create_cam_view_marker(
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frame, pose, scale, color, intrinsic, near, far, ns="", id=0
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):
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marker = create_marker(Marker.LINE_LIST, frame, pose, scale, color, ns, id)
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x_n = near * intrinsic.width / (2.0 * intrinsic.fx)
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y_n = near * intrinsic.height / (2.0 * intrinsic.fy)
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z_n = near
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x_f = far * intrinsic.width / (2.0 * intrinsic.fx)
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y_f = far * intrinsic.height / (2.0 * intrinsic.fy)
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z_f = far
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points = [
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[x_n, y_n, z_n],
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[-x_n, y_n, z_n],
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[-x_n, y_n, z_n],
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[-x_n, -y_n, z_n],
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[-x_n, -y_n, z_n],
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[x_n, -y_n, z_n],
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[x_n, -y_n, z_n],
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[x_n, y_n, z_n],
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[x_f, y_f, z_f],
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[-x_f, y_f, z_f],
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[-x_f, y_f, z_f],
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[-x_f, -y_f, z_f],
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[-x_f, -y_f, z_f],
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[x_f, -y_f, z_f],
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[x_f, -y_f, z_f],
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[x_f, y_f, z_f],
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[x_n, y_n, z_n],
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[x_f, y_f, z_f],
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[-x_n, y_n, z_n],
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[-x_f, y_f, z_f],
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[-x_n, -y_n, z_n],
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[-x_f, -y_f, z_f],
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[x_n, -y_n, z_n],
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[x_f, -y_f, z_f],
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]
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marker.points = [to_point_msg(p) for p in points]
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return marker
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def create_grasp_markers(
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frame,
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grasp,
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color,
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ns,
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id,
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finger_depth=0.05,
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radius=0.005,
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):
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w, d = grasp.width, finger_depth
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pose = grasp.pose * Transform.translation([0.0, -w / 2, d / 2])
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scale = [radius, radius, d]
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left = create_marker(Marker.CYLINDER, frame, pose, scale, color, ns, id)
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pose = grasp.pose * Transform.translation([0.0, w / 2, d / 2])
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scale = [radius, radius, d]
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right = create_marker(Marker.CYLINDER, frame, pose, scale, color, ns, id + 1)
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pose = grasp.pose * Transform.translation([0.0, 0.0, -d / 4])
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scale = [radius, radius, d / 2]
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wrist = create_marker(Marker.CYLINDER, frame, pose, scale, color, ns, id + 2)
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pose = grasp.pose * Transform.rotation(Rotation.from_rotvec([np.pi / 2, 0, 0]))
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scale = [radius, radius, w]
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palm = create_marker(Marker.CYLINDER, frame, pose, scale, color, ns, id + 3)
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return [left, right, wrist, palm]
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