Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
doc:marker_visualization [2015/10/19 14:38] – [Usage] daniel86 | doc:marker_visualization [2015/10/19 15:07] (current) – [Marker-based visualization canvas] daniel86 | ||
---|---|---|---|
Line 9: | Line 9: | ||
Based on [[http:// | Based on [[http:// | ||
+ | ===== Marker Types ===== | ||
+ | |||
+ | The set of supported marker primitive types can be queried using the '' | ||
+ | The primitive types include arrow, cube, sphere, cylinder, line_strip, line_list, cube_list, sphere_list, | ||
+ | Primitive markers can be created using '' | ||
+ | |||
+ | In addition, KnowRob supports a set of complex marker types. | ||
+ | * **cylinder_tf(Frame0, | ||
+ | * **link(Frame)**: | ||
+ | * **trajectory(Frame)**: | ||
+ | * **trail(Frame)**: | ||
+ | * **average_trajectory(Frame)**: | ||
+ | * **pointer(Frame0, | ||
+ | * **object(Name)**: | ||
+ | * **agent(Name)**: | ||
+ | * **stickman(Name)**: | ||
===== Usage ===== | ===== Usage ===== | ||
- | The following queries read data from a semantic map and visualize it in the browser-based visualization. | + | First, setup the rosbridge communication interface |
$ roslaunch rosbridge_server rosbridge_websocket.launch | $ roslaunch rosbridge_server rosbridge_websocket.launch | ||
$ rosrun rosprolog | $ rosrun rosprolog | ||
| | ||
+ | Markers must be explicitly published by the user with following query ([[http:// | ||
+ | |||
+ | % publish modified marker | ||
+ | ?- marker_publish. | ||
+ | |||
+ | |||
+ | |||
+ | ==== Semantic Map Marker ==== | ||
+ | |||
+ | The following queries read data from a semantic map and visualize it in the browser-based visualization. | ||
+ | |||
% load and visualize semantic map | % load and visualize semantic map | ||
?- owl_parse(' | ?- owl_parse(' | ||
Line 23: | Line 50: | ||
?- owl_individual_of(A, | ?- owl_individual_of(A, | ||
- | | + | ==== Agent Marker ==== |
- | ?- marker_publish. | + | |
+ | The following queries read data from a robot description, | ||
+ | and visualize it in the browser-based visualization. | ||
+ | |||
+ | | ||
+ | ?- owl_parse(' | ||
+ | ?- mng_robot_pose_at_time(pr2:' | ||
+ | |||
+ | ==== Trajectory Marker ==== | ||
+ | |||
+ | The following queries read data from a robot description, | ||
+ | and visualize it in the browser-based visualization. | ||
+ | % load and visualize the base link of the pr2 robot for given timerange (T0,T1) | ||
+ | ?- owl_parse(' | ||
+ | ?- marker_update(trajectory('/ | ||
===== Visualizing 3D object meshes ===== | ===== Visualizing 3D object meshes ===== | ||