#include <plot.h>

Public Member Functions
void	createVisualPublishers (ros::NodeHandle &node, double marker_lifetime)
	Create publishers for handles and grasp hypotheses to visualize them in Rviz.
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	plotFingers (const std::vector< Handle > &handle_list, const PointCloud::Ptr &cloud, std::string str, double outer_diameter=0.09, double hand_depth=0.09)
	Plot a list of handles.
void	plotFingers (const std::vector< GraspHypothesis > &hand_list, const PointCloud::Ptr &cloud, std::string str, double outer_diameter=0.09, double hand_depth=0.09)
	Plot a list of grasps.
void	plotGraspsRviz (const std::vector< GraspHypothesis > &hand_list, const std::string &frame, bool is_antipodal=false)
	Plot the grasp hypotheseses in Rviz.
void	plotHandles (const std::vector< Handle > &handle_list, const PointCloud::Ptr &cloud, std::string str)
	Plot the handles.
void	plotHandlesRviz (const std::vector< Handle > &handle_list, const std::string &frame)
	Plot the handles in Rviz.
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.
void	addCloudToViewer (boost::shared_ptr< pcl::visualization::PCLVisualizer > &viewer, const PointCloud::Ptr &cloud, const std::string &name, int point_size=1)
	Add a point cloud to a PCL visualizer.
visualization_msgs::Marker	createApproachMarker (const std::string &frame, const geometry_msgs::Point &center, const Eigen::Vector3d &approach, int id, const double *color, double alpha, double diam)
	Create a visual marker for an approach vector in Rviz.
PointCloud::Ptr	createFingersCloud (const std::vector< GraspHypothesis > &hand_list, double outer_diameter, double hand_depth)
	Create a point cloud that stores the visual representations of the grasps.
visualization_msgs::Marker	createMarker (const std::string &frame)
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.
pcl::PointXYZRGBA	eigenVector3dToPointXYZRGBA (const Eigen::Vector3d &v)
	Convert an Eigen vector to a PCL point.
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.
void	setPointColor (const GraspHypothesis &hand, pcl::PointXYZRGBA &p)
	Set the color of a point.
Private Attributes
ros::Publisher	antipodal_pub_
	ROS publisher for antipodal grasps (Rviz)
ros::Publisher	handles_pub_
	ROS publisher for handles (Rviz)
ros::Publisher	hypotheses_pub_
	ROS publisher for grasp hypotheses (Rviz)
double	marker_lifetime_
	max time that markers are visualized in Rviz

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 56 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 235 of file plot.cpp.

void Plot::addCloudToViewer	(	boost::shared_ptr< pcl::visualization::PCLVisualizer > &	viewer,
		const PointCloud::Ptr &	cloud,
		const std::string &	name,
		int	point_size = `1`
	)		`[private]`

Add a point cloud to a PCL visualizer.

Parameters:

viewer	the PCL visualizer that the cloud is added to
cloud	the cloud to be added

Definition at line 226 of file plot.cpp.

visualization_msgs::Marker Plot::createApproachMarker	(	const std::string &	frame,
		const geometry_msgs::Point &	center,
		const Eigen::Vector3d &	approach,
		int	id,
		const double *	color,
		double	alpha,
		double	diam
	)		`[private]`

Create a visual marker for an approach vector in Rviz.

Parameters:

frame	the frame that the marker's pose is relative to
center	the position of the marker
approach	the approach vector
id	the identifier of the marker
color	a 3-element array defining the markers color in RGB
alpha	the transparency level of the marker
diam	the diameter of the marker

Definition at line 477 of file plot.cpp.

PointCloud::Ptr Plot::createFingersCloud	(	const std::vector< GraspHypothesis > &	hand_list,
		double	outer_diameter,
		double	hand_depth
	)		`[private]`

Create a point cloud that stores the visual representations of the grasps.

Parameters:

hand_list	the list of grasps to be be stored in the point cloud
outer_diameter	the outer diameter of the visual grasp representation

Definition at line 59 of file plot.cpp.

visualization_msgs::Marker Plot::createMarker ( const std::string & frame ) [private]

Create a visual marker.

Parameters:

frame the frame that the marker's pose is relative to

Definition at line 503 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 189 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 303 of file plot.cpp.

void Plot::createVisualPublishers	(	ros::NodeHandle &	node,
		double	marker_lifetime
	)

Create publishers for handles and grasp hypotheses to visualize them in Rviz.

Parameters:

node	the ROS node for which the publishers are advertised
marker_lifetime	the lifetime of each visual marker

Definition at line 311 of file plot.cpp.

pcl::PointXYZRGBA Plot::eigenVector3dToPointXYZRGBA ( const Eigen::Vector3d & v ) [private]

Convert an Eigen vector to a PCL point.

Parameters:

v	the Eigen vector to be converted

Definition at line 533 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 169 of file plot.cpp.

void Plot::plotFingers	(	const std::vector< Handle > &	handle_list,
		const PointCloud::Ptr &	cloud,
		std::string	str,
		double	outer_diameter = `0.09`,
		double	hand_depth = `0.09`
	)

Plot a list of handles.

Parameters:

hand_list	the list of grasps
cloud	the point cloud to be plotted
str	the title of the plot window
outer_diameter	the width of the drawn grasps

Definition at line 4 of file plot.cpp.

void Plot::plotFingers	(	const std::vector< GraspHypothesis > &	hand_list,
		const PointCloud::Ptr &	cloud,
		std::string	str,
		double	outer_diameter = `0.09`,
		double	hand_depth = `0.09`
	)

Plot a list of grasps.

Parameters:

hand_list	the list of grasps
cloud	the point cloud to be plotted
str	the title of the plot window
outer_diameter	the width of the drawn grasps

Definition at line 42 of file plot.cpp.

void Plot::plotGraspsRviz	(	const std::vector< GraspHypothesis > &	hand_list,
		const std::string &	frame,
		bool	is_antipodal = `false`
	)

Plot the grasp hypotheseses in Rviz.

Parameters:

hand_list	the list of grasp hypotheses
frame	the frame that the poses of the grasp hypotheses are relative to

Definition at line 319 of file plot.cpp.

void Plot::plotHandles	(	const std::vector< Handle > &	handle_list,
		const PointCloud::Ptr &	cloud,
		std::string	str
	)

Plot the handles.

Parameters:

handle_list	the list of handles
frame	the frame that the poses of the handle grasps are relative to
str	the title of the PCL visualization window

Definition at line 384 of file plot.cpp.

void Plot::plotHandlesRviz	(	const std::vector< Handle > &	handle_list,
		const std::string &	frame
	)

Plot the handles in Rviz.

Parameters:

handle_list	the list of handles
frame	the frame that the poses of the handle grasps are relative to

Definition at line 360 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 133 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 122 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 250 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 157 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 142 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 277 of file plot.cpp.

void Plot::setPointColor	(	const GraspHypothesis &	hand,
		pcl::PointXYZRGBA &	p
	)		`[private]`

Set the color of a point.

Parameters:

hand	the grasp that the point belongs to
p	the point for which the color is set

Definition at line 514 of file plot.cpp.

Member Data Documentation

ros::Publisher Plot::antipodal_pub_ [private]

ROS publisher for antipodal grasps (Rviz)

Definition at line 254 of file plot.h.

ros::Publisher Plot::handles_pub_ [private]

ROS publisher for handles (Rviz)

Definition at line 255 of file plot.h.

ros::Publisher Plot::hypotheses_pub_ [private]

ROS publisher for grasp hypotheses (Rviz)

Definition at line 253 of file plot.h.

double Plot::marker_lifetime_ [private]

max time that markers are visualized in Rviz

Definition at line 256 of file plot.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Function Documentation

Member Data Documentation