KOOSVisu

class mobrob_behcon.core.visualisation.KOOSVisu

The class KOOSVisu

This class represents a visualization of the robot environment from a bird’s eye view. The different classes like Laser Scanner or Behaviour can draw on the canvas. Output is published as a video stream via a ROS Publisher.

Attributes

colours

Methods

__init__()	constructor
clear_image()	Clears the canvas.
draw_box(pt1, pt2[, color])	Draws a box on the canvas.
draw_cluster_points_laser(points, cluster_labels)	Draws a list of clustered points to canvas.
draw_cross_world(point[, color, size])
draw_crosses_world(lst_points[, color, size])	Draws a list of crosses to canvas.
draw_ellipse_world(point, covariance, sigma)
draw_line_world(slope, offset[, color])
draw_origin_world()
draw_point_laser(point[, color])	Draws a dot on canvas.
draw_point_world(point[, color])	Draws a dot on canvas.
draw_points_laser(lst_points[, color])	Draws a list of points to canvas.
draw_points_world(lst_points[, color])	Draws a list of points to canvas.
draw_robot([color])	Draws the robot on the canvas as rectangle with the given color.
send_image()	Sends out the canvas via the ROS publisher.
set_current_pose(current_pose)	Setter for robots current pose
to_visu_coord(point)	Converts a point in world coordinates to pixel coordinates on canvas.

Details

__init__()

constructor

clear_image()

Clears the canvas.

draw_box(pt1, pt2, color=(255, 0, 0))

Draws a box on the canvas. Box is defined by two points in robot space.

Parameters

• pt1 ((float, float)) – Right back point of box in robot space (x, y)

• pt2 ((float, float)) – Left front point of box in robot space (x, y)

• color ((byte, byte, byte)) – color of box on canvas, defaults to (255, 0, 0)

draw_cluster_points_laser(points, cluster_labels)

Draws a list of clustered points to canvas. Six different colors are available to color the clusters differently.

Parameters

• points (list of (float, float)) – list of points (defined in laser space)

• cluster_labels (list of int) – list of cluster labels, the list has to have the same length as points

draw_cross_world(point, color=(128, 128, 0), size=2)

draw_crosses_world(lst_points, color=(255, 255, 255), size=2)

Draws a list of crosses to canvas.

Parameters

• lst_points (list of (float, float)) – list of points (defined in world space)

• color ((byte, byte, byte)) – color of dot on canvas, defaults to (255, 255, 255)

• size – size of crosses, defaults to 2

Type

int

draw_ellipse_world(point, covariance, sigma, color=(0, 128, 128))

draw_line_world(slope, offset, color=(0, 0, 255))

draw_origin_world()

draw_point_laser(point, color=(255, 255, 255))

Draws a dot on canvas. The dot is defined by one point in laser space.

Parameters

• point ((float, float)) – point in laser space (x, y)

• color ((byte, byte, byte)) – color of dot on canvas, defaults to (255, 255, 255)

draw_point_world(point, color=(255, 255, 255))

Draws a dot on canvas. The dot is defined by one point in world space.

Parameters

• point ((float, float)) – point in world space (x, y)

• color ((byte, byte, byte)) – color of dot on canvas, defaults to (255, 255, 255)

draw_points_laser(lst_points, color=(255, 255, 255))

Draws a list of points to canvas.

Parameters

• lst_points (list of (float, float)) – list of points (defined in laser space)

• color ((byte, byte, byte)) – color of dot on canvas, defaults to (255, 255, 255)

draw_points_world(lst_points, color=(255, 255, 255))

Draws a list of points to canvas. points are defined in world space

Parameters

• lst_points (list of (float, float)) – list of points (defined in world space)

• color ((byte, byte, byte)) – color of dot on canvas, defaults to (255, 255, 255)

draw_robot(color=(0, 255, 0))

Draws the robot on the canvas as rectangle with the given color.

Parameters

color ((byte, byte, byte)) – color of robot on canvas, defaults to (0, 255, 0)

send_image()

Sends out the canvas via the ROS publisher.

set_current_pose(current_pose)

Setter for robots current pose

Parameters

current_pose ((float, float, float)) – current pose of robot in world space (x, y, yaw)

to_visu_coord(point)

Converts a point in world coordinates to pixel coordinates on canvas.

Parameters

point (number[2]) – point to be converted to pixel coord

Returns

pixel coordinates on canvas

Return type

(int, int)