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))