def publish_marker(ean): global marker_pub, barcode_to_object if marker_pub is None: marker_pub = rospy.Publisher('shelf_objects', Marker, queue_size=100) m = Marker() text = Marker() text.header.frame_id = ean m.header.frame_id = ean m.pose.orientation.w = 1 m.action = Marker.ADD text.action = Marker.ADD text.type = Marker.TEXT_VIEW_FACING text.text = ean text.scale = Vector3(0,0,.05) text.color = ColorRGBA(1,1,1,1) text.pose.position.z = 0.05 if ean in barcode_to_object and barcode_to_object[ean].split('.')[-1]=='dae': m.pose.orientation = Quaternion(*quaternion_from_euler(0,0,np.pi/2)) m.type = Marker.MESH_RESOURCE m.mesh_resource = refills_models_path + barcode_to_object[ean] m.scale = Vector3(1,1,1) m.color = ColorRGBA(0,0,0,0) m.mesh_use_embedded_materials = True else: m.type = Marker.CUBE m.scale = Vector3(.05,.05,.05) m.color = ColorRGBA(.5,.5,.5,1.0) m.text = ean m.ns = ean text.ns = ean m.id = 2 marker_pub.publish(m) marker_pub.publish(text)
def update_information(self, object_id, marker_ns, visualize, transform, static_transforms, mesh, color, depth, width, height): """ :type marker_ns: str :type visualize: bool :type transform: TransformStamped :param static_transforms: [TransformStamped] :type static_transforms: list :param color: [r, g, b, a] :type color: list :type mesh: str :type depth: float :type width: float :type height: float """ self.__marker_ns = marker_ns self.__has_visual = visualize self.update_transform(transform) for static_transform in static_transforms: self.set_static_transform(static_transform) if visualize: self.update_color(*color) self.__mesh_path = mesh self.update_dimensions(depth, width, height) else: self.__color = ColorRGBA(0, 0, 0, 1) self.update_dimensions(1, 1, 1) self.__initialized = True self.__object_name = object_id
def __init__(self): self.transform = None self.mesh_path = '' self.object_name = '' self.object_type = '' self.ref_frame = '' self.initialized = False self.visualize = False self.color = ColorRGBA(0, 0, 0, 1) self.scale = Vector3(0.05, 0.05, 0.05)
def update_color(self, r, g, b, a): self.__color = ColorRGBA() self.__color.r = r self.__color.g = g self.__color.b = b self.__color.a = a
def update_color(self, r, g, b, a): self.color = ColorRGBA() self.color.r = float(r) self.color.g = float(g) self.color.b = float(b) self.color.a = float(a)
def __cell_to_color(self, c): color = ColorRGBA() if c.is_marked(): color.r = 1 color.g = 0.5 color.b = 0 elif c.is_free(): color.r = 1 color.g = 1 color.b = 1 elif c.is_obstacle() or c.is_object(): if c.is_blue(): color.r = 0 color.g = 0 color.b = 1 elif c.is_green(): color.r = 0 color.g = 1 color.b = 0 elif c.is_cyan(): color.r = 0 color.g = 1 color.b = 1 elif c.is_red(): color.r = 1 color.g = 0 color.b = 0 elif c.is_magenta(): color.r = 1 color.g = 0 color.b = 1 elif c.is_yellow(): color.r = 1 color.g = 1 color.b = 0 elif c.is_undef(): color.r = 0.5 color.g = 0.5 color.b = 0.5 else: color.r = 0 color.g = 0 color.b = 0 color.a = 1 return color
def __init__(self): self.transform = None self.mesh_path = '' self.color = ColorRGBA()
def __init__(self): self.transform = None self.mesh_path = '' self.color = ColorRGBA() self.initialized = False