241 lines
7.3 KiB
Python
241 lines
7.3 KiB
Python
from geometry_msgs.msg import PoseArray
|
|
import matplotlib.colors
|
|
import numpy as np
|
|
import rospy
|
|
|
|
from robot_helpers.ros.rviz import *
|
|
from robot_helpers.spatial import Transform
|
|
from vgn.utils import *
|
|
|
|
cmap = matplotlib.colors.LinearSegmentedColormap.from_list("RedGreen", ["r", "g"])
|
|
red = np.r_[1.0, 0.0, 0.0]
|
|
blue = np.r_[0, 0.6, 1.0]
|
|
|
|
|
|
class Visualizer:
|
|
def __init__(self, topic="visualization_marker_array"):
|
|
self.marker_pub = rospy.Publisher(topic, MarkerArray, queue_size=1)
|
|
self.scene_cloud_pub = rospy.Publisher(
|
|
"scene_cloud",
|
|
PointCloud2,
|
|
latch=True,
|
|
queue_size=1,
|
|
)
|
|
self.map_cloud_pub = rospy.Publisher(
|
|
"map_cloud",
|
|
PointCloud2,
|
|
latch=True,
|
|
queue_size=1,
|
|
)
|
|
self.quality_pub = rospy.Publisher("quality", PointCloud2, queue_size=1)
|
|
|
|
def clear(self):
|
|
self.clear_markers()
|
|
msg = to_cloud_msg("panda_link0", np.array([]))
|
|
self.scene_cloud_pub.publish(msg)
|
|
self.map_cloud_pub.publish(msg)
|
|
self.quality_pub.publish(msg)
|
|
rospy.sleep(0.1)
|
|
|
|
def clear_markers(self):
|
|
self.draw([Marker(action=Marker.DELETEALL)])
|
|
|
|
def clear_views(self, n):
|
|
markers = [Marker(action=Marker.DELETE, ns="views", id=i) for i in range(n)]
|
|
self.draw(markers)
|
|
|
|
def draw(self, markers):
|
|
self.marker_pub.publish(MarkerArray(markers=markers))
|
|
|
|
def bbox(self, frame, bbox):
|
|
pose = Transform.identity()
|
|
scale = [0.004, 0.0, 0.0]
|
|
color = red
|
|
corners = bbox.corners
|
|
edges = [
|
|
(0, 1),
|
|
(1, 3),
|
|
(3, 2),
|
|
(2, 0),
|
|
(4, 5),
|
|
(5, 7),
|
|
(7, 6),
|
|
(6, 4),
|
|
(0, 4),
|
|
(1, 5),
|
|
(3, 7),
|
|
(2, 6),
|
|
]
|
|
lines = [(corners[s], corners[e]) for s, e in edges]
|
|
marker = create_line_list_marker(frame, pose, scale, color, lines, ns="bbox")
|
|
self.draw([marker])
|
|
|
|
def best_grasp(self, frame, grasp, score, smin=0.9, smax=1.0, alpha=1.0):
|
|
color = cmap((score - smin) / (smax - smin))
|
|
color = [color[0], color[1], color[2], alpha]
|
|
self.draw(create_grasp_markers(frame, grasp, color, "best_grasp", radius=0.006))
|
|
|
|
def grasps(self, frame, grasps, scores, smin=0.9, smax=1.0, alpha=0.8):
|
|
if len(grasps) == 0:
|
|
return
|
|
|
|
markers = []
|
|
for i, (grasp, score) in enumerate(zip(grasps, scores)):
|
|
color = cmap((score - smin) / (smax - smin))
|
|
color = [color[0], color[1], color[2], alpha]
|
|
markers += create_grasp_markers(frame, grasp, color, "grasps", 4 * i)
|
|
self.draw(markers)
|
|
|
|
def rays(self, frame, origin, directions, t_max=1.0):
|
|
lines = [[origin, origin + t_max * direction] for direction in directions]
|
|
marker = create_line_list_marker(
|
|
frame,
|
|
Transform.identity(),
|
|
[0.002, 0.0, 0.0],
|
|
[0.6, 0.6, 0.6],
|
|
lines,
|
|
"rays",
|
|
)
|
|
self.draw([marker])
|
|
|
|
def map_cloud(self, frame, cloud):
|
|
points = np.asarray(cloud.points)
|
|
distances = np.expand_dims(np.asarray(cloud.colors)[:, 0], 1)
|
|
msg = to_cloud_msg(frame, points, distances=distances)
|
|
self.map_cloud_pub.publish(msg)
|
|
|
|
def path(self, frame, poses):
|
|
color = blue
|
|
points = [p.translation for p in poses]
|
|
spheres = create_sphere_list_marker(
|
|
frame,
|
|
Transform.identity(),
|
|
np.full(3, 0.01),
|
|
color,
|
|
points,
|
|
"path",
|
|
0,
|
|
)
|
|
lines = create_line_strip_marker(
|
|
frame,
|
|
Transform.identity(),
|
|
[0.005, 0.0, 0.0],
|
|
color,
|
|
points,
|
|
"path",
|
|
1,
|
|
)
|
|
self.draw([spheres, lines])
|
|
|
|
def point(self, frame, point):
|
|
marker = create_sphere_marker(
|
|
frame,
|
|
Transform.translation(point),
|
|
np.full(3, 0.01),
|
|
[0, 0, 1],
|
|
"point",
|
|
)
|
|
self.draw([marker])
|
|
|
|
def quality(self, frame, voxel_size, quality):
|
|
points, values = grid_to_map_cloud(voxel_size, quality, threshold=0.9)
|
|
values = (values - 0.9) / (1.0 - 0.9) # to increase contrast
|
|
msg = to_cloud_msg(frame, points, intensities=values)
|
|
self.quality_pub.publish(msg)
|
|
|
|
def scene_cloud(self, frame, cloud):
|
|
msg = to_cloud_msg(frame, np.asarray(cloud.points))
|
|
self.scene_cloud_pub.publish(msg)
|
|
|
|
def views(self, frame, intrinsic, views, values, alpha=0.8):
|
|
vmin, vmax = min(values), max(values)
|
|
scale = [0.002, 0.0, 0.0]
|
|
near, far = 0.0, 0.02
|
|
markers = []
|
|
for i, (view, value) in enumerate(zip(views, values)):
|
|
color = cmap((value - vmin) / (vmax - vmin))
|
|
color = [color[0], color[1], color[2], alpha]
|
|
marker = create_cam_view_marker(
|
|
frame,
|
|
view,
|
|
scale,
|
|
color,
|
|
intrinsic,
|
|
near,
|
|
far,
|
|
ns="views",
|
|
id=i,
|
|
)
|
|
markers.append(marker)
|
|
self.draw(markers)
|
|
|
|
|
|
def create_cam_view_marker(
|
|
frame, pose, scale, color, intrinsic, near, far, ns="", id=0
|
|
):
|
|
marker = create_marker(Marker.LINE_LIST, frame, pose, scale, color, ns, id)
|
|
x_n = near * intrinsic.width / (2.0 * intrinsic.fx)
|
|
y_n = near * intrinsic.height / (2.0 * intrinsic.fy)
|
|
z_n = near
|
|
x_f = far * intrinsic.width / (2.0 * intrinsic.fx)
|
|
y_f = far * intrinsic.height / (2.0 * intrinsic.fy)
|
|
z_f = far
|
|
points = [
|
|
[x_n, y_n, z_n],
|
|
[-x_n, y_n, z_n],
|
|
[-x_n, y_n, z_n],
|
|
[-x_n, -y_n, z_n],
|
|
[-x_n, -y_n, z_n],
|
|
[x_n, -y_n, z_n],
|
|
[x_n, -y_n, z_n],
|
|
[x_n, y_n, z_n],
|
|
[x_f, y_f, z_f],
|
|
[-x_f, y_f, z_f],
|
|
[-x_f, y_f, z_f],
|
|
[-x_f, -y_f, z_f],
|
|
[-x_f, -y_f, z_f],
|
|
[x_f, -y_f, z_f],
|
|
[x_f, -y_f, z_f],
|
|
[x_f, y_f, z_f],
|
|
[x_n, y_n, z_n],
|
|
[x_f, y_f, z_f],
|
|
[-x_n, y_n, z_n],
|
|
[-x_f, y_f, z_f],
|
|
[-x_n, -y_n, z_n],
|
|
[-x_f, -y_f, z_f],
|
|
[x_n, -y_n, z_n],
|
|
[x_f, -y_f, z_f],
|
|
]
|
|
marker.points = [to_point_msg(p) for p in points]
|
|
return marker
|
|
|
|
|
|
def create_grasp_markers(
|
|
frame,
|
|
grasp,
|
|
color,
|
|
ns,
|
|
id=0,
|
|
finger_depth=0.05,
|
|
radius=0.003,
|
|
):
|
|
w, d = grasp.width, finger_depth
|
|
|
|
pose = grasp.pose * Transform.translation([0.0, -w / 2, d / 2])
|
|
scale = [radius, radius, d]
|
|
left = create_marker(Marker.CYLINDER, frame, pose, scale, color, ns, id)
|
|
|
|
pose = grasp.pose * Transform.translation([0.0, w / 2, d / 2])
|
|
scale = [radius, radius, d]
|
|
right = create_marker(Marker.CYLINDER, frame, pose, scale, color, ns, id + 1)
|
|
|
|
pose = grasp.pose * Transform.translation([0.0, 0.0, -d / 4])
|
|
scale = [radius, radius, d / 2]
|
|
wrist = create_marker(Marker.CYLINDER, frame, pose, scale, color, ns, id + 2)
|
|
|
|
pose = grasp.pose * Transform.rotation(Rotation.from_rotvec([np.pi / 2, 0, 0]))
|
|
scale = [radius, radius, w]
|
|
palm = create_marker(Marker.CYLINDER, frame, pose, scale, color, ns, id + 3)
|
|
|
|
return [left, right, wrist, palm]
|