robokudo.annotators.object_pose_visualizer

Object pose visualization for RoboKudo.

This module provides an annotator for visualizing the poses of detected objects in both 2D (image overlays) and 3D (coordinate frames) representations.

Classes

ObjectPoseVisualizer

Annotator for visualizing object poses in the CAS.

Module Contents

class robokudo.annotators.object_pose_visualizer.ObjectPoseVisualizer(name='ObjectPoseVisualizer')

Bases: robokudo.annotators.core.BaseAnnotator

Annotator for visualizing object poses in the CAS.

This annotator creates visualizations of object poses by:

  • Drawing pose information on the color image

  • Creating 3D coordinate frames at each object’s pose

  • Displaying the coordinate frames alongside the point cloud

update()

Update the visualization with current object poses.

Creates visualizations containing:

  • Color image with pose information

  • 3D coordinate frames for each object’s pose

  • Point cloud data

Returns:

SUCCESS after creating visualizations

Return type:

py_trees.common.Status