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Render grasp colors based on their quality

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This commit is contained in:
Michel Breyer
2021-09-13 11:49:13 +02:00
parent b41d70df66
commit e9344a4db2
2 changed files with 8 additions and 10 deletions
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11
active_grasp/visualization.py
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@@ -69,15 +69,14 @@ class Visualizer:
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]
def best_grasp(self, frame, grasp, qmin=0.5, qmax=1.0):
color = cmap((grasp.quality - qmin) / (qmax - qmin))
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):
def grasps(self, frame, grasps, qmin=0.5, qmax=1.0, alpha=0.8):
markers = []
for i, (grasp, score) in enumerate(zip(grasps, scores)):
color = cmap((score - smin) / (smax - smin))
for i, grasp in enumerate(grasps):
color = cmap((grasp.quality - qmin) / (qmax - qmin))
color = [color[0], color[1], color[2], alpha]
markers += create_grasp_markers(frame, grasp, color, "grasps", 4 * i)
self.grasp_marker_count = len(markers)