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doc:marker_visualization [2015/10/19 15:07]
daniel86 [Marker Types]
doc:marker_visualization [2015/10/19 15:07] (current)
daniel86 [Marker-based visualization canvas]
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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]].
  
 +===== Marker Types =====
 +
 +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.
 +
 +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 =====