def set_cylinder_model(self, cx, cy, cz, ax, ay, az, radius):
self.recon = CylinderPointCloudTransformer(cx, cy, cz, ax, ay, az,
radius, self.xyz)
create_cylinder_publisher(cx,
cy,
cz,
ax,
ay,
az,
radius,
topic_name='/flydracalib/cyl',
publish_now=True,
latch=True,
length=3 * radius,
color=(0, 1, 0, 0.3))
create_point_publisher(cx,
cy,
cz,
r=0.1,
topic_name='/flydracalib/cylcenter',
publish_now=True,
latch=True,
color=(1, 0, 0, 0.5))
create_point_cloud_message_publisher(self.recon.move_cloud(self.xyz),
topic_name='/flydracalib/points2',
publish_now=True,
latch=True)
