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Add test scenes

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This commit is contained in:
Michel Breyer
2021-09-10 23:29:15 +02:00
parent 15f120f207
commit 6514872b74
12 changed files with 87 additions and 50 deletions
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26
active_grasp/visualization.py
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@@ -137,8 +137,8 @@ class Visualizer:
)
self.draw([marker])
def quality(self, frame, voxel_size, quality):
points, values = grid_to_map_cloud(voxel_size, quality, threshold=0.9)
def quality(self, frame, voxel_size, quality, threshold=0.9):
points, values = grid_to_map_cloud(voxel_size, quality, threshold)
values = (values - 0.9) / (1.0 - 0.9) # to increase contrast
msg = to_cloud_msg(frame, points, intensities=values)
self.quality_pub.publish(msg)
@@ -169,6 +169,28 @@ class Visualizer:
markers.append(marker)
self.draw(markers)
def workspace(self, frame, size):
scale = size * 0.005
pose = Transform.identity()
scale = [scale, 0.0, 0.0]
color = [0.5, 0.5, 0.5]
lines = [
([0.0, 0.0, 0.0], [size, 0.0, 0.0]),
([size, 0.0, 0.0], [size, size, 0.0]),
([size, size, 0.0], [0.0, size, 0.0]),
([0.0, size, 0.0], [0.0, 0.0, 0.0]),
([0.0, 0.0, size], [size, 0.0, size]),
([size, 0.0, size], [size, size, size]),
([size, size, size], [0.0, size, size]),
([0.0, size, size], [0.0, 0.0, size]),
([0.0, 0.0, 0.0], [0.0, 0.0, size]),
([size, 0.0, 0.0], [size, 0.0, size]),
([size, size, 0.0], [size, size, size]),
([0.0, size, 0.0], [0.0, size, size]),
]
msg = create_line_list_marker(frame, pose, scale, color, lines, ns="workspace")
self.draw([msg])
def create_cam_view_marker(
frame, pose, scale, color, intrinsic, near, far, ns="", id=0