robokudo.annotators.camera_viewpoint_visualizer

Camera viewpoint visualization for RoboKudo.

This module provides an annotator for visualizing camera viewpoints and reference frames in 3D space using Open3D.

Classes

CameraViewpointVisualizer

Annotator for visualizing camera viewpoints and reference frames.

Module Contents

class robokudo.annotators.camera_viewpoint_visualizer.CameraViewpointVisualizer(name='CameraViewpointVisualizer')

Bases: robokudo.annotators.core.BaseAnnotator

Annotator for visualizing camera viewpoints and reference frames.

This annotator displays the reference frame set in the viewpoint (e.g., /map frame) along with the point cloud data. It creates a 3D visualization showing the coordinate frame and the point cloud in the same space.

The annotator will fail if the required viewpoint transform cannot be found in the CAS.

Variables:

name – Name of the annotator instance

update()

Update the visualization with current viewpoint and point cloud data.

Creates a visualization containing:

• A coordinate frame representing the world reference frame

• The current point cloud data

Returns:

SUCCESS if visualization was created, FAILURE if viewpoint not found

Return type:

py_trees.common.Status

Raises:

AssertionError – If viewpoint transform is of wrong type