#include <plot.h>

Public Member Functions
void	plotCameraSource (const Eigen::VectorXi &pts_cam_source_in, const PointCloud::Ptr &cloud)
	Plot the camera source for each point in the point cloud.
void	plotHands (const std::vector< GraspHypothesis > &hand_list, const PointCloud::Ptr &cloud, std::string str, bool use_grasp_bottom=false)
	Plot a set of grasp hypotheses.
void	plotHands (const std::vector< GraspHypothesis > &hand_list, const std::vector< GraspHypothesis > &antipodal_hand_list, const PointCloud::Ptr &cloud, std::string str, bool use_grasp_bottom=false)
	Plot a set of grasp hypotheses and a set of antipodal grasps.
void	plotLocalAxes (const std::vector< Quadric > &quadric_list, const PointCloud::Ptr &cloud)
	Plot a set of quadrics by plotting their local axes.
void	plotSamples (const std::vector< int > &index_list, const PointCloud::Ptr &cloud)
	Plot a set of samples.
Private Member Functions
void	addCloudNormalsToViewer (boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer, const PointCloudNormal::Ptr &cloud, double line_width, double color_cloud, double color_normals, const std::string &cloud_name, const std::string &normals_name)
	Add a point cloud with normals to a PCL visualizer.
PointCloudNormal::Ptr	createNormalsCloud (const std::vector< GraspHypothesis > &hand_list, bool plots_only_antipodal, bool plots_grasp_bottom)
	Create a point cloud with normals that represent the approach vectors for a set of grasp hypotheses.
boost::shared_ptr < pcl::visualization::PCLVisualizer >	createViewer (std::string title)
	Create a PCL visualizer.
void	plotHandsHelper (const PointCloudNormal::Ptr &hands_cloud, const PointCloudNormal::Ptr &antipodal_hands_cloud, const PointCloud::Ptr &cloud, std::string str, bool use_grasp_bottom)
	Plot two point clouds representing grasp hypotheses and antipodal grasps, respectively.
void	runViewer (boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer)
	Run/show a PCL visualizer until an escape key is hit.

Detailed Description

Plot class

This class provides a set of visualization methods that visualize the output of the algorithm and some intermediate steps. The visualization is done using PCL Visualizer.

Definition at line 50 of file plot.h.

Member Function Documentation

void Plot::addCloudNormalsToViewer	(	boost::shared_ptr< pcl::visualization::PCLVisualizer > &	viewer,
		const PointCloudNormal::Ptr &	cloud,
		double	line_width,
		double *	color_cloud,
		double *	color_normals,
		const std::string &	cloud_name,
		const std::string &	normals_name
	)		`[private]`

Add a point cloud with normals to a PCL visualizer.

Parameters:

viewer	the PCL visualizer that the cloud is added to
cloud	the cloud to be added
line_width	the line width for drawing normals
color_cloud	the color that is used to draw the cloud
color_normals	the color that is used to draw the normals
cloud_name	an identifier string for the cloud
normals_name	an identifier string for the normals

Definition at line 122 of file plot.cpp.

PointCloudNormal::Ptr Plot::createNormalsCloud	(	const std::vector< GraspHypothesis > &	hand_list,
		bool	plots_only_antipodal,
		bool	plots_grasp_bottom
	)		`[private]`

Create a point cloud with normals that represent the approach vectors for a set of grasp hypotheses.

Parameters:

hand_list	the set of grasp hypotheses
plots_only_antipodal	whether only the approach vectors of antipodal grasps are considered
plots_grasp_bottom	whether the approach vectors plotted originate from the grasp bottom point

Definition at line 85 of file plot.cpp.

boost::shared_ptr< pcl::visualization::PCLVisualizer > Plot::createViewer ( std::string title ) [private]

Create a PCL visualizer.

Parameters:

title the title of the visualization window

Definition at line 194 of file plot.cpp.

void Plot::plotCameraSource	(	const Eigen::VectorXi &	pts_cam_source_in,
		const PointCloud::Ptr &	cloud
	)

Plot the camera source for each point in the point cloud.

Parameters:

pts_cam_source_in	the camera source for each point in the point cloud
cloud	the point cloud to be plotted

Definition at line 57 of file plot.cpp.

void Plot::plotHands	(	const std::vector< GraspHypothesis > &	hand_list,
		const PointCloud::Ptr &	cloud,
		std::string	str,
		bool	use_grasp_bottom = `false`
	)

Plot a set of grasp hypotheses.

Parameters:

hand_list	the set of grasp hypotheses to be plotted
cloud	the point cloud to be plotted
str	the title of the visualization window
use_grasp_bottom	whether the grasps plotted originate from the grasp bottom point

Definition at line 15 of file plot.cpp.

void Plot::plotHands	(	const std::vector< GraspHypothesis > &	hand_list,
		const std::vector< GraspHypothesis > &	antipodal_hand_list,
		const PointCloud::Ptr &	cloud,
		std::string	str,
		bool	use_grasp_bottom = `false`
	)

Plot a set of grasp hypotheses and a set of antipodal grasps.

Parameters:

hand_list	the set of grasp hypotheses to be plotted
antipodal_hand_list	the set of antipodal grasps to be plotted
cloud	the point cloud to be plotted
str	the title of the visualization window
use_grasp_bottom	whether the grasps plotted originate from the grasp bottom point

Definition at line 4 of file plot.cpp.

void Plot::plotHandsHelper	(	const PointCloudNormal::Ptr &	hands_cloud,
		const PointCloudNormal::Ptr &	antipodal_hands_cloud,
		const PointCloud::Ptr &	cloud,
		std::string	str,
		bool	use_grasp_bottom
	)		`[private]`

Plot two point clouds representing grasp hypotheses and antipodal grasps, respectively.

Parameters:

hands_cloud	the cloud that represents the grasp hypotheses
antipodal_hands_cloud	the cloud that represents the antipodal grasps
cloud	the point cloud to be plotted
str	the title of the visualization window
use_grasp_bottom	whether the grasps plotted originate from the grasp bottom point

Definition at line 137 of file plot.cpp.

void Plot::plotLocalAxes	(	const std::vector< Quadric > &	quadric_list,
		const PointCloud::Ptr &	cloud
	)

Plot a set of quadrics by plotting their local axes.

Parameters:

quadric_list	the list of quadrics to be plotted
cloud	the point cloud to be plotted

Definition at line 43 of file plot.cpp.

void Plot::plotSamples	(	const std::vector< int > &	index_list,
		const PointCloud::Ptr &	cloud
	)

Plot a set of samples.

Parameters:

index_list	the list of samples (indices into the point cloud)
cloud	the point cloud to be plotted

Definition at line 24 of file plot.cpp.

void Plot::runViewer ( boost::shared_ptr< pcl::visualization::PCLVisualizer > & viewer ) [private]

Run/show a PCL visualizer until an escape key is hit.

Parameters:

viewer the PCL visualizer to be shown

Definition at line 168 of file plot.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Detailed Description

Member Function Documentation