mirage.orbit.orbit_file_publisher.OrbitFilePublisher#

class mirage.orbit.orbit_file_publisher.OrbitFilePublisher(data_write_dir)#

Bases: XEmbodyPublisher

Orbit specific file publisher that works with the ROS publishing code

__init__(data_write_dir) → None#

Initializes the publisher code. :param data_write_dir: The directory to write the data to.

Methods

__init__(data_write_dir)

Initializes the publisher code.

get_inpainted_image(blocking)

Gets the inpainted image.

publish_to_ros_node(rgb_image, point_cloud, ...)

Publishes the RGB image, segmentation mask, and joint angles to the ROS2 node.
get_inpainted_image(blocking: bool) → array#

Gets the inpainted image. :param blocking: Whether to block until the inpainted image is received. :return: The inpainted image.

publish_to_ros_node(rgb_image: array, point_cloud: array, segmentation_mask: array, joint_angles: array)#

Publishes the RGB image, segmentation mask, and joint angles to the ROS2 node. :param rgb_image: The RGBD image 4 channel numpy. :param point_cloud: The point cloud 3 channel numpy. :param segmentation_mask: The segmentation mask 1 channel numpy. :param joint_angles: The joint angles 1D numpy.