def plot_plane_tex(
self,
pose,
label,
image,
already_encoded=False,
scale=None,
opacity=1.0,
pixel_to_meters=0.1,
):
if scale is None:
h, w = image.shape[:2]
sw = w * pixel_to_meters
sh = h * pixel_to_meters
else:
sw, sh = scale
cmd = transform_to_cmd(pose, label, 1.0)
cmd["type"] = "plane_tex"
if not already_encoded:
cmd["uri"] = image_to_uri(image)
else:
cmd["uri"] = image
cmd["scale_x"] = sw
cmd["scale_y"] = sh
cmd["opacity"] = opacity
self.send(cmd)
return cmd
def plot_plane(pose, label, color="blue", scale=(1, 1)):
cmd = transform_to_cmd(pose, label, 1.0)
cmd["type"] = "plane"
cmd["scale_x"] = scale[0]
cmd["scale_y"] = scale[1]
cmd["color"] = "color"
send_command(cmd)
def plot_cylinder(self, pose, label, color="blue", radius=1, height=1, opacity=1):
cmd = transform_to_cmd(pose, label, 1.0)
cmd["type"] = "cylinder"
cmd["radius"] = radius
cmd["color"] = color
cmd["height"] = height
cmd["opacity"] = opacity
self.send(cmd)
return cmd
def plot_plane_tex(pose, label, image, already_encoded=False, scale=(1, 1)):
cmd = transform_to_cmd(pose, label, 1.0)
cmd["type"] = "plane_tex"
if not already_encoded:
cmd["uri"] = image_to_uri(image)
else:
cmd["uri"] = image
cmd["scale_x"] = scale[0]
cmd["scale_y"] = scale[1]
send_command(cmd)
def plot_text(self, pose, label, text, color="red", scale=(1, 1), opacity=1):
cmd = transform_to_cmd(pose + Transform.from_euler_deg(roll=90), label, 1.0)
cmd["type"] = "text"
if isinstance(scale, tuple):
sx, sy = scale
else:
sx = scale
sy = scale
cmd["scale_x"] = sx
cmd["scale_y"] = sy
cmd["color"] = color
cmd["opacity"] = opacity
cmd["text"] = text
self.send(cmd)
return cmd
def plot_plane_tex(self,
pose,
label,
image,
already_encoded=False,
scale=(1, 1),
opacity=1.0):
cmd = transform_to_cmd(pose, label, 1.0)
cmd["type"] = "plane_tex"
if not already_encoded:
cmd["uri"] = image_to_uri(image)
else:
cmd["uri"] = image
cmd["scale_x"] = scale[0]
cmd["scale_y"] = scale[1]
cmd["opacity"] = opacity
self.send(cmd)
def update_properties(self, label, pose):
cmd = transform_to_cmd(pose, label)
cmd["type"] = "update"
self.send(cmd)
return cmd
def plot_pose(self, pose, label, size=0.1):
cmd = transform_to_cmd(pose, label, size)
self.send(cmd)
return cmd
def update_properties(label, pose):
cmd = transform_to_cmd(pose, label)
cmd["type"] = "update"
send_command(cmd)
def plot_pose(pose, label, size=0.1):
send_command(transform_to_cmd(pose, label, size))
def plot_pose(self, pose, label, size=0.1):
self.send(transform_to_cmd(pose, label, size))