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doc:marker_visualization [2014/12/07 07:17] – [Marker-based visualization canvas] admin | doc:marker_visualization [2015/10/19 15:07] – [Marker Types] daniel86 | ||
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===== 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:// |
- | ?- visualisation_canvas. | + | |
- | + | | |
+ | ?- 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(' | ||
- | ?- owl_individual_of(A, | + | ?- owl_individual_of(A, |
| | ||
% highlight all electrical household appliances | % highlight all electrical household appliances | ||
- | ?- owl_individual_of(A, | + | ?- owl_individual_of(A, |
- | | + | |
+ | ==== Agent Marker ==== | ||
+ | |||
+ | The following queries read data from a robot description, look up the robot pose in the mongo DB | ||
+ | and visualize it in the browser-based visualization. | ||
+ | |||
+ | % load and visualize the pr2 robot for given timepoint T | ||
+ | ?- 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 ===== | ||