Visualize quality and grasps

active_grasp/visualization.py

@@ -1,3 +1,4 @@
+from geometry_msgs.msg import PoseArray
 import numpy as np
 import rospy
 
@@ -11,10 +12,17 @@ class Visualizer:
         self.frame = frame
         self.marker_pub = rospy.Publisher(topic, MarkerArray, queue_size=1)
         self.scene_cloud_pub = rospy.Publisher("scene_cloud", PointCloud2, queue_size=1)
+        self.quality_pub = rospy.Publisher("quality", PointCloud2, queue_size=1)
+        self.grasps_pub = rospy.Publisher("grasps", PoseArray, queue_size=1)
 
     def clear(self):
-        marker = Marker(action=Marker.DELETEALL)
-        self.draw([marker])
+        self.draw([Marker(action=Marker.DELETEALL)])
+        msg = to_cloud_msg(self.frame, np.array([]))
+        self.scene_cloud_pub.publish(msg)
+        self.quality_pub.publish(msg)
+        msg = PoseArray()
+        msg.header.frame_id = self.frame
+        self.grasps_pub.publish(msg)
 
     def bbox(self, bbox):
         pose = Transform.translation((bbox.min + bbox.max) / 2.0)
@@ -23,10 +31,6 @@ class Visualizer:
         marker = create_cube_marker(self.frame, pose, scale, color, ns="bbox")
         self.draw([marker])
 
-    def scene_cloud(self, frame, cloud):
-        msg = to_cloud_msg(frame, np.asarray(cloud.points))
-        self.scene_cloud_pub.publish(msg)
-
     def path(self, poses):
         color = np.r_[31, 119, 180] / 255.0
         points = [p.translation for p in poses]
@@ -52,3 +56,18 @@ class Visualizer:
 
     def draw(self, markers):
         self.marker_pub.publish(MarkerArray(markers=markers))
+
+    def scene_cloud(self, frame, cloud):
+        msg = to_cloud_msg(frame, np.asarray(cloud.points))
+        self.scene_cloud_pub.publish(msg)
+
+    def quality(self, frame, voxel_size, quality):
+        points, values = grid_to_map_cloud(voxel_size, quality, threshold=0.8)
+        msg = to_cloud_msg(frame, points, intensities=values)
+        self.quality_pub.publish(msg)
+
+    def grasps(self, grasps):
+        msg = PoseArray()
+        msg.header.frame_id = self.frame
+        msg.poses = [to_pose_msg(grasp.pose) for grasp in grasps]
+        self.grasps_pub.publish(msg)