151 lines
4.6 KiB
Python
151 lines
4.6 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, 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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self.quality_pub = rospy.Publisher("quality", PointCloud2, queue_size=1)
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self.grasps_pub = rospy.Publisher("grasps", PoseArray, 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(self.frame, np.array([]))
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self.scene_cloud_pub.publish(msg)
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self.quality_pub.publish(msg)
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msg = PoseArray()
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msg.header.frame_id = self.frame
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self.grasps_pub.publish(msg)
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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, 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 grasps(self, grasps):
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msg = PoseArray()
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msg.header.frame_id = self.frame
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msg.poses = [to_pose_msg(grasp.pose) for grasp in grasps]
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self.grasps_pub.publish(msg)
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def lines(self, lines):
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marker = create_line_list_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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[1.0, 0.0, 0.0],
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lines,
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"rays",
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0,
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)
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self.draw([marker])
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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 quality(self, frame, voxel_size, quality):
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points, values = grid_to_map_cloud(voxel_size, quality, threshold=0.8)
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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, 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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markers.append(
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_create_cam_view_marker(
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self.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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)
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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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