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doc:marker_visualization [2015/10/19 15:07] – [Marker Types] daniel86 | doc:marker_visualization [2015/10/19 15:07] (current) – [Marker-based visualization canvas] daniel86 |
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Based on [[http://www.ros.org/wiki/rviz/DisplayTypes/Marker|rviz Markers]], this visualization module can display 3D information in a browser-based canvas that has been built using the [[https://github.com/RobotWebTools/ros3djs|ros3djs library]]. | Based on [[http://www.ros.org/wiki/rviz/DisplayTypes/Marker|rviz Markers]], this visualization module can display 3D information in a browser-based canvas that has been built using the [[https://github.com/RobotWebTools/ros3djs|ros3djs library]]. |
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| ===== Marker Types ===== |
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| The set of supported marker primitive types can be queried using the ''marker_prop_type(Type,_)'' predicate. |
| The primitive types include arrow, cube, sphere, cylinder, line_strip, line_list, cube_list, sphere_list, points, text_view_facing, mesh_resource and triangle_list. |
| Primitive markers can be created using ''marker($type('Name'),_)'', where $type must be replaced by one of the primitive types. |
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| In addition, KnowRob supports a set of complex marker types. |
| * **cylinder_tf(Frame0,Frame1)**: A cylinder between 2 links |
| * **link(Frame)**: A marker that takes the pose of a link |
| * **trajectory(Frame)**: A trajectory of a link |
| * **trail(Frame)**: A trail of a link (trajectory with alpha fade) |
| * **average_trajectory(Frame)**: The average over multiple trajectories |
| * **pointer(Frame0,Frame1)**: Arrow that points from Frame0 in the direction of Frame1 |
| * **object(Name)**: A marker that represents an OWL individual (including children objects) |
| * **agent(Name)**: A marker that represents an OWL agent individual (including all links) |
| * **stickman(Name)**: A special human skeleton visualization, kinematic structure is spanned by the OWL individual indentified by Name |
===== Usage ===== | ===== Usage ===== |
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