niryo_libraries.niryo_robot_vision.visualization

module documentation

Undocumented

Function	`create_clear_all_marker`	Create marker for clearing all
Function	`create_clear_marker`	Create marker for clearing
Function	`create_marker_rviz`	Create marker for the workspace
Function	`create_text_marker`	Create text marker
Function	`create_workspace`	Create workspace plane
Function	`get_pose`	Transform the pose in the workspace to the world pose
Function	`publish_object_rviz`	Create and publish object and marker object

def create_clear_all_marker(time): ¶

Create marker for clearing all

Parameters
time	time ros

def create_clear_marker(id_marker, time): ¶

Create marker for clearing

def create_marker_rviz(position, orientation, id_marker, time): ¶

Create marker for the workspace

def create_text_marker(id_text, text, time, position, orientation, size): ¶

Create text marker

def create_workspace(id_workspace, time, position, orientation, x_size, y_size, z_size): ¶

Create workspace plane

def get_pose(workspace, x_rel, y_rel, yaw_rel, yaw_center=None): ¶

Transform the pose in the workspace to the world pose

Parameters
workspace	dict of the workspace which contains name, matrix, ratio
x_rel	object base x position relative to workspace
y_rel	object base y position relative to workspace
yaw_rel	object base rotation on z relative to workspace
yaw_center	Avoid over rotation

def publish_object_rviz(position, orientation, size, type_marker, color, id_marker, publisher, time, duration): ¶

Create and publish object and marker object

Parameters
position	position of the marker
orientation	orientation of the marker
size	size of the object
type_marker	type of the object(cylinder or square)
color	color of the object
id_marker	id of the marker
publisher	ros publisher
time	time ros
duration	time to live

niryo_libraries.niryo_robot_vision.visualization_functions