#include <ism_voting_visualizer_rviz.hpp>

Inheritance diagram for VIZ::ISMVotingVisualizerRVIZ:

Public Member Functions
void	addVisualization (const ISM::PatternNameAndVotingSpaceTuple &voting_space, std::vector< ISM::RecognitionResultPtr > results)

void	dynamicReconfCallback (asr_ism_visualizations::ism_voting_visualizerConfig &config, uint32_t level)

std::string	getPatternName ()
	returns Name of pattern for visualization More...

	ISMVotingVisualizerRVIZ (const ros::Publisher &publisher, double bin_size, const ros::NodeHandle &nh)

void	releaseCallback ()

	~ISMVotingVisualizerRVIZ ()

Public Member Functions inherited from VIZ::VisualizerRVIZ
void	clearAllMarkerOfTopic ()

void	publishCollectedMarkers ()

	VisualizerRVIZ (const ros::Publisher &publisher)

Private Member Functions
visualization_msgs::MarkerArray	generateBinAndGridMarker (ISM::VotingSpacePtr voting_space_ptr)

visualization_msgs::Marker	generateGridMarker (std::tuple< int, int, int, int, int, int > grid_bb)

visualization_msgs::MarkerArray	generateRefMarker (ISM::RecognitionResultPtr result, std::vector< ISM::PosePtr > voted_poses)

visualization_msgs::Marker	generateResultVoteOverlay (ISM::RecognitionResultPtr result)

visualization_msgs::MarkerArray	generateVoteMarker (std::map< ISM::ObjectPtr, std::vector< ISM::PosePtr >> voter_to_poses_map)

ISM::RecognitionResultPtr	getRecognitionResultPtrOfPattern (ISM::RecognitionResultPtr result)

std::map< ISM::ObjectPtr, std::vector< ISM::PosePtr > >	getSortedVotedPoses (ISM::VotingSpacePtr voting_space_ptr)

Private Attributes
double	axis_scale_

std::string	base_frame_

double	bin_opacity_

double	bin_scale_

double	bin_size_

double	confidence_sphere_opacity_

double	grid_opacity_

double	grid_scale_

double	line_scale_

double	marker_lifetime_

double	object_marker_opacity_

double	object_marker_scale_

std::string	pattern_name_

dynamic_reconfigure::Server< asr_ism_visualizations::ism_voting_visualizerConfig > *	reconfigure_server_

std::string	scene_name_

double	vote_opacity_

Additional Inherited Members
Protected Member Functions inherited from VIZ::VisualizerRVIZ
void	addMarker (visualization_msgs::Marker marker)

void	addMarker (visualization_msgs::MarkerArray markers)

void	publishMarkers ()

Detailed Description

Definition at line 31 of file ism_voting_visualizer_rviz.hpp.

Constructor & Destructor Documentation

◆ ISMVotingVisualizerRVIZ()

VIZ::ISMVotingVisualizerRVIZ::ISMVotingVisualizerRVIZ	(	const ros::Publisher &	publisher,
		double	bin_size,
		const ros::NodeHandle &	nh
	)

inline

Definition at line 34 of file ism_voting_visualizer_rviz.hpp.

◆ ~ISMVotingVisualizerRVIZ()

VIZ::ISMVotingVisualizerRVIZ::~ISMVotingVisualizerRVIZ ( )

inline

Definition at line 42 of file ism_voting_visualizer_rviz.hpp.

Member Function Documentation

◆ addVisualization()

void VIZ::ISMVotingVisualizerRVIZ::addVisualization	(	const ISM::PatternNameAndVotingSpaceTuple &	voting_space,
		std::vector< ISM::RecognitionResultPtr >	results
	)

adds Visualization and draws Votes

Parameters

votingSpace	the whole votingspace
results	all results of recognition

Definition at line 28 of file ism_voting_visualizer_rviz.cpp.

◆ dynamicReconfCallback()

void VIZ::ISMVotingVisualizerRVIZ::dynamicReconfCallback	(	asr_ism_visualizations::ism_voting_visualizerConfig &	config,
		uint32_t	level
	)

inline

Definition at line 51 of file ism_voting_visualizer_rviz.hpp.

◆ generateBinAndGridMarker()

MarkerArray VIZ::ISMVotingVisualizerRVIZ::generateBinAndGridMarker ( ISM::VotingSpacePtr voting_space_ptr )

private

Generates the Bins and then calling generateGridMarker

Parameters

votingSpace the whole votingspace

Definition at line 97 of file ism_voting_visualizer_rviz.cpp.

◆ generateGridMarker()

Marker VIZ::ISMVotingVisualizerRVIZ::generateGridMarker ( std::tuple< int, int, int, int, int, int > grid_bb )

private

Generates the Voxelgrid: tuple<minX, minY, minZ, maxX, maxY, maxZ>

Parameters

gridBB the BoundingBox of all Votes scaled to bin_size and the given frame.

Definition at line 214 of file ism_voting_visualizer_rviz.cpp.

◆ generateRefMarker()

MarkerArray VIZ::ISMVotingVisualizerRVIZ::generateRefMarker	(	ISM::RecognitionResultPtr	result,
		std::vector< ISM::PosePtr >	voted_poses
	)

private

Generates the marker of the scenereference

Parameters

result	result of the current pattern and recognition
allVotedPoses	all Poses of Votes in the current votingspace

Definition at line 80 of file ism_voting_visualizer_rviz.cpp.

◆ generateResultVoteOverlay()

Marker VIZ::ISMVotingVisualizerRVIZ::generateResultVoteOverlay ( ISM::RecognitionResultPtr result )

private

Definition at line 66 of file ism_voting_visualizer_rviz.cpp.

◆ generateVoteMarker()

MarkerArray VIZ::ISMVotingVisualizerRVIZ::generateVoteMarker ( std::map< ISM::ObjectPtr, std::vector< ISM::PosePtr >> voter_to_poses_map )

private

Generates the markers of all Votes with a framemarker (xyz-axis)

Parameters

voterToPose map of all voters to its votes

Definition at line 171 of file ism_voting_visualizer_rviz.cpp.

◆ getPatternName()

std::string VIZ::ISMVotingVisualizerRVIZ::getPatternName ( )

inline

returns Name of pattern for visualization

Definition at line 77 of file ism_voting_visualizer_rviz.hpp.

◆ getRecognitionResultPtrOfPattern()

ISM::RecognitionResultPtr VIZ::ISMVotingVisualizerRVIZ::getRecognitionResultPtrOfPattern ( ISM::RecognitionResultPtr result )

private

Definition at line 284 of file ism_voting_visualizer_rviz.cpp.

◆ getSortedVotedPoses()

std::map< ISM::ObjectPtr, std::vector< ISM::PosePtr > > VIZ::ISMVotingVisualizerRVIZ::getSortedVotedPoses ( ISM::VotingSpacePtr voting_space_ptr )

private

maps the Votes of the given votingspace to its Voter

Parameters

votingSpace the current votingspace

Definition at line 256 of file ism_voting_visualizer_rviz.cpp.

◆ releaseCallback()

void VIZ::ISMVotingVisualizerRVIZ::releaseCallback ( )

inline

Definition at line 45 of file ism_voting_visualizer_rviz.hpp.

Member Data Documentation

◆ axis_scale_

double VIZ::ISMVotingVisualizerRVIZ::axis_scale_

private

Definition at line 117 of file ism_voting_visualizer_rviz.hpp.

◆ base_frame_

std::string VIZ::ISMVotingVisualizerRVIZ::base_frame_

private

Definition at line 108 of file ism_voting_visualizer_rviz.hpp.

◆ bin_opacity_

double VIZ::ISMVotingVisualizerRVIZ::bin_opacity_

private

Definition at line 120 of file ism_voting_visualizer_rviz.hpp.

◆ bin_scale_

double VIZ::ISMVotingVisualizerRVIZ::bin_scale_

private

Definition at line 115 of file ism_voting_visualizer_rviz.hpp.

◆ bin_size_

double VIZ::ISMVotingVisualizerRVIZ::bin_size_

private

Definition at line 113 of file ism_voting_visualizer_rviz.hpp.

◆ confidence_sphere_opacity_

double VIZ::ISMVotingVisualizerRVIZ::confidence_sphere_opacity_

private

Definition at line 124 of file ism_voting_visualizer_rviz.hpp.

◆ grid_opacity_

double VIZ::ISMVotingVisualizerRVIZ::grid_opacity_

private

Definition at line 121 of file ism_voting_visualizer_rviz.hpp.

◆ grid_scale_

double VIZ::ISMVotingVisualizerRVIZ::grid_scale_

private

Definition at line 116 of file ism_voting_visualizer_rviz.hpp.

◆ line_scale_

double VIZ::ISMVotingVisualizerRVIZ::line_scale_

private

Definition at line 118 of file ism_voting_visualizer_rviz.hpp.

◆ marker_lifetime_

double VIZ::ISMVotingVisualizerRVIZ::marker_lifetime_

private

Definition at line 109 of file ism_voting_visualizer_rviz.hpp.

◆ object_marker_opacity_

double VIZ::ISMVotingVisualizerRVIZ::object_marker_opacity_

private

Definition at line 123 of file ism_voting_visualizer_rviz.hpp.

◆ object_marker_scale_

double VIZ::ISMVotingVisualizerRVIZ::object_marker_scale_

private

Definition at line 119 of file ism_voting_visualizer_rviz.hpp.

◆ pattern_name_

std::string VIZ::ISMVotingVisualizerRVIZ::pattern_name_

private

Definition at line 111 of file ism_voting_visualizer_rviz.hpp.

◆ reconfigure_server_

dynamic_reconfigure::Server<asr_ism_visualizations::ism_voting_visualizerConfig>* VIZ::ISMVotingVisualizerRVIZ::reconfigure_server_

private

Definition at line 126 of file ism_voting_visualizer_rviz.hpp.

◆ scene_name_

std::string VIZ::ISMVotingVisualizerRVIZ::scene_name_

private

Definition at line 112 of file ism_voting_visualizer_rviz.hpp.

◆ vote_opacity_

double VIZ::ISMVotingVisualizerRVIZ::vote_opacity_

private

Definition at line 122 of file ism_voting_visualizer_rviz.hpp.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ISMVotingVisualizerRVIZ()

◆ ~ISMVotingVisualizerRVIZ()

Member Function Documentation

◆ addVisualization()

◆ dynamicReconfCallback()

◆ generateBinAndGridMarker()

◆ generateGridMarker()

◆ generateRefMarker()

◆ generateResultVoteOverlay()

◆ generateVoteMarker()

◆ getPatternName()

◆ getRecognitionResultPtrOfPattern()

◆ getSortedVotedPoses()

◆ releaseCallback()

Member Data Documentation

◆ axis_scale_

◆ base_frame_

◆ bin_opacity_

◆ bin_scale_

◆ bin_size_

◆ confidence_sphere_opacity_

◆ grid_opacity_

◆ grid_scale_

◆ line_scale_

◆ marker_lifetime_

◆ object_marker_opacity_

◆ object_marker_scale_

◆ pattern_name_

◆ reconfigure_server_

◆ scene_name_

◆ vote_opacity_