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mesh_reasoning [2013/02/12 17:41] – external edit 127.0.0.1mesh_reasoning [2014/06/05 11:38] (current) – external edit 127.0.0.1
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-====== Reasoning about geometric object models ====== +#REDIRECT doc:mesh_reasoning
-~~NOTOC~~ +
-This module is currently under development and not publicly available. +
- +
-===== Usage ===== +
- +
-Start knowrob_mesh_reasoning +
-<code> +
- roscd knowrob_mesh_reasoning +
- rosrun rosprolog rosprolog knowrob_mesh_reasoning +
-</code> +
- +
-Analyze a model by its direct path or a KnowRob identifier (you first have to load an OWL file with the object) +
-<code> +
- ?- mesh_annotator_path('package://knowrob_mesh_reasoning/models/cup2.dae',Mr). +
- ?- mesh_annotator(knowrob:'DrinkingBottle', Mr). +
-<code> +
- +
-Retrieve a list of found annotation types: +
-<code> +
- ?- mesh_element_types($Mr, TypeList). +
- TypeList = ['Plane','Cone','Sphere','Container']. +
-</code> +
- +
-Sample call for highlighting all sphere annotations: +
-<code> +
- ?- mesh_annotator_path('package://knowrob_mesh_reasoning/models/cup2.dae',Mr). +
- PeasyCam v105 +
- [INFO  14:28:17,955] root - MeshReasoning started. Parsing model ... +
- [DEBUG 14:28:18,748] root - Model parsed. Took: 00:00:00.781 (Vertices: 3196, Lines: 0, Triangles: 6332) +
- [DEBUG 14:28:18,754] root - Calculating curvature ... +
- [DEBUG 14:28:19,271] NeighborAnalyzer - Started +
- [DEBUG 14:28:23,860] NeighborAnalyzer - Ended. Took: 00:00:04.588 +
- [DEBUG 14:28:23,860] PrimitiveAnalyzer - Started +
- [DEBUG 14:28:27,788] PrimitiveAnalyzer - Ended. Took: 00:00:03.928 +
- [DEBUG 14:28:27,788] ContainerAnalyzer - Started +
- [DEBUG 14:28:27,791] ContainerAnalyzer - Ended. Took: 00:00:00.002 +
- Mr = @'J#00000140259203508552'.  +
-  +
- ?- mesh_find_annotations($Mr,'Sphere',Found). +
- Found = @'J#00000140260210192312'. +
-  +
- ?- mesh_annotator_highlight($Mr,$Found). +
- FoundList = [@'J#00000140144111974832', +
-              @'J#00000140144111974824', +
-              @'J#00000140144111974816',  +
-              @'J#00000140144111974808']. +
- false. +
-</code> +
- +
-Clear highlight with +
-<code> +
- mesh_annotator_clear_highlight($Mr). +
-</code> +
- +
-Finding handles (default or by specifying minimum and maximum radius of a handle): +
-<code> +
- mesh_find_handle($Mr, Li), listsplit(Li,Lh,Lt), mesh_annotator_highlight($Mr,Lh). +
- mesh_find_handle($Mr, Li, 0.1, 0.8), listsplit(Li,Lh,Lt), mesh_annotator_highlight($Mr,Lh). +
-</code> +
- +
-Finding all supporting planes: +
-<code> +
- mesh_find_supporting_planes($Mr,Planes), mesh_annotator_highlight($Mr,Planes). +
-</code> +
- +
- +
-===== Computables ===== +
- +
-These computables are still work in progress, but they already build up the OWL datastructures of the object and its parts including their properties and relative poses. +
- +
-Start knowrob_mesh_reasoning +
-<code> +
- $ roscd knowrob_mesh_reasoning +
- $ rosrun rosprolog rosprolog knowrob_mesh_reasoning +
-</code> +
- +
-Load example file +
-<code> +
- ?- owl_parse('owl/test_objects.owl', false, false, true). +
-</code> +
- +
-Ask for properPhysicalParts (loads mesh, segments it and creates the parts on the fly) +
-<code> +
- ?- rdf_triple(knowrob:properPhysicalParts, knowrob:cabinet1, Parts). +
-</code> +
- +
-Ask for properties of these parts +
-<code> +
- ?- rdf_triple(knowrob:areaOfObject, $Parts, Area). +
-</code> +
- +
- +
-==== Currently implemented computables ==== +
- +
-  * Planar surfaces +
-    * normalDirection (vector) +
-    * objectLongSide (vector) +
-    * objectShortSide (vector) +
-    * areaOfObject (float) +
-    * areaCoverage (float) +
-    * supporting planes (computable class for SupportingPlane) +
-  * Spheres +
-    * radius (float) +
-    * volumeOfObject (float) +
-    * areaOfObject (float) +
-    * areaCoverage (float) +
-    * concavity (computable class for ConcaveTangibleObject) +
-  * Cones/cylinders +
-    * radius (as average radius, float) +
-    * maxRadius (float) +
-    * minRadius (float) +
-    * volumeOfObject (float) +
-    * lengthOfObject (float) +
-    * longitudinalDirection (vector) +
-    * areaOfObject (float) +
-    * areaCoverage (float) +
-  * Containers +
-    * longitudinalDirection (opening direction, vector) +
-    * volumeOfObject (float) +
-  * Handles (computable class for cylindrical handles, class 'Handle') +
- +