Public Member Functions | Static Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
next_best_view::VisualizationHelper Class Reference

#include <VisualizationsHelper.hpp>

Public Member Functions

void clearFrustumObjectPointCloudVisualization ()
 
void clearFrustumVisualization ()
 
bool getBoolClearBetweenIterations ()
 
void resetSamplingVisualization ()
 
void triggerCropBoxVisualization (const boost::shared_ptr< std::vector< CropBoxWrapperPtr >> cropBoxWrapperPtrList)
 
void triggerFrustumObjectPointCloudVisualization (ObjectPointCloud &frustumObjectPointCloud, std::map< std::string, std::string > &typeToMeshResource)
 triggerFrustumObjectPointCloudVisualization shows only objects without hypothesis. More...
 
void triggerFrustumsVisualization (CameraModelFilterPtr newCamera)
 visualizes the frustum of the last camera that was given and the frustum of the new given camera. More...
 
void triggerIterationVisualization (int iterationStep, const SimpleQuaternionCollectionPtr &sampledOrientationsPtr, ViewportPoint currentBestViewport, SamplePointCloudPtr pointcloud, SpaceSamplerPtr spaceSamplerPtr)
 
void triggerNewFrustumVisualization (CameraModelFilterPtr newCamera)
 
void triggerObjectNormalsVisualization (ObjectPointCloud &objectPointCloud)
 
void triggerObjectPointCloudVisualization (ObjectPointCloud &objectPointCloud, std::map< std::string, std::string > &typeToMeshResource)
 triggerObjectPointCloudVisualization shows only objects without hypothesis More...
 
void triggerOldFrustumVisualization (CameraModelFilterPtr camera=NULL)
 
void triggerSamplingVisualization (ViewportPointCloudPtr samples, Color markerColor, std::string ns)
 
 VisualizationHelper (MapHelperPtr mapHelperPtr)
 

Static Public Member Functions

static std_msgs::ColorRGBA getMeshColor (std::string observedId)
 

Private Member Functions

visualization_msgs::Marker getVoxelMarker (GridVector3 voxelPos, double worldVoxelSize, SimpleVector4 color, int id, std::string ns)
 
void triggerCameraVis (std::string s, const SimpleQuaternionCollectionPtr &sampledOrientationsPtr, ViewportPoint currentBestViewport)
 
void triggerGrid (SpaceSamplerPtr spaceSamplerPtr, std::string s)
 
void triggerSpaceSampling (SamplePointCloudPtr pointcloud, std::string s)
 

Static Private Member Functions

static std_msgs::ColorRGBA createColorRGBA (float red, float green, float blue, float alpha)
 
static void deleteMarkerArray (visualization_msgs::MarkerArray::Ptr &array, ros::Publisher &publisher)
 
static visualization_msgs::Marker getObjectMarker (geometry_msgs::Pose pose, std::string type, std_msgs::ColorRGBA color, std::map< std::string, std::string > typeToMeshResource, int id, std::string ns)
 
static void visualizePointCloudNormals (ObjectPointCloud &objectPointCloud, visualization_msgs::MarkerArray::Ptr objectNormalsMarkerArrayPtr, ros::Publisher &objectNormalsPublisher)
 visualizePointCloudNormals visualizes all hypothesis of each object. More...
 
static void visualizePointCloudObjects (ObjectPointCloud &objectPointCloud, std::map< std::string, std::string > &typeToMeshResource, visualization_msgs::MarkerArray::Ptr objectMarkerArrayPtr, ros::Publisher &objectPublisher, std_msgs::ColorRGBA::Ptr objectColorPtr=NULL)
 visualizePointCloudObjects visualizes objects of objectPointCloud, using typeToMeshResource to get meshes. More...
 

Private Attributes

int m_i
 
float m_j
 
bool mBoolClearBetweenIterations
 
visualization_msgs::MarkerArray::Ptr mCropBoxMarkerArrayPtr
 
ros::Publisher mCropBoxMarkerPublisher
 
DebugHelperPtr mDebugHelperPtr
 
ros::Publisher mFrustumMarkerArrayPublisher
 
visualization_msgs::MarkerArray::Ptr mFrustumObjectMeshMarkerArrayPtr
 
ros::Publisher mFrustumObjectMeshMarkerPublisher
 
visualization_msgs::MarkerArray::Ptr mFrustumObjectNormalsMarkerArrayPtr
 
visualization_msgs::MarkerArray::Ptr mIterationMarkerArrayPtr
 
ros::Publisher mIterationMarkerArrayPublisher
 
int mIterationStep
 
MapHelperPtr mMapHelperPtr
 
visualization_msgs::MarkerArray::Ptr mNewFrustumMarkerArrayPtr
 
ros::NodeHandle mNodeHandle
 
visualization_msgs::MarkerArray::Ptr mObjectMeshMarkerArrayPtr
 
ros::Publisher mObjectMeshMarkerPublisher
 
visualization_msgs::MarkerArray::Ptr mObjectNormalsMarkerArrayPtr
 
visualization_msgs::MarkerArray::Ptr mOldFrustumMarkerArrayPtr
 
ros::Publisher mPointObjectNormalPublisher
 
int mSampleCounter
 
visualization_msgs::MarkerArray::Ptr mSamplingMarkerArrayPtr
 
ros::Publisher mSamplingPublisher
 
boost::mutex mutex
 

Detailed Description

Definition at line 54 of file VisualizationsHelper.hpp.

Constructor & Destructor Documentation

next_best_view::VisualizationHelper::VisualizationHelper ( MapHelperPtr  mapHelperPtr)
inline

Definition at line 93 of file VisualizationsHelper.hpp.

Member Function Documentation

void next_best_view::VisualizationHelper::clearFrustumObjectPointCloudVisualization ( )
inline

Definition at line 443 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::clearFrustumVisualization ( )
inline

Definition at line 382 of file VisualizationsHelper.hpp.

static std_msgs::ColorRGBA next_best_view::VisualizationHelper::createColorRGBA ( float  red,
float  green,
float  blue,
float  alpha 
)
inlinestaticprivate

Definition at line 901 of file VisualizationsHelper.hpp.

static void next_best_view::VisualizationHelper::deleteMarkerArray ( visualization_msgs::MarkerArray::Ptr &  array,
ros::Publisher &  publisher 
)
inlinestaticprivate

Definition at line 854 of file VisualizationsHelper.hpp.

bool next_best_view::VisualizationHelper::getBoolClearBetweenIterations ( )
inline

Definition at line 162 of file VisualizationsHelper.hpp.

static std_msgs::ColorRGBA next_best_view::VisualizationHelper::getMeshColor ( std::string  observedId)
inlinestatic

Definition at line 518 of file VisualizationsHelper.hpp.

static visualization_msgs::Marker next_best_view::VisualizationHelper::getObjectMarker ( geometry_msgs::Pose  pose,
std::string  type,
std_msgs::ColorRGBA  color,
std::map< std::string, std::string >  typeToMeshResource,
int  id,
std::string  ns 
)
inlinestaticprivate

Definition at line 872 of file VisualizationsHelper.hpp.

visualization_msgs::Marker next_best_view::VisualizationHelper::getVoxelMarker ( GridVector3  voxelPos,
double  worldVoxelSize,
SimpleVector4  color,
int  id,
std::string  ns 
)
inlineprivate

Definition at line 755 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::resetSamplingVisualization ( )
inline

Definition at line 266 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerCameraVis ( std::string  s,
const SimpleQuaternionCollectionPtr &  sampledOrientationsPtr,
ViewportPoint  currentBestViewport 
)
inlineprivate

Definition at line 553 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerCropBoxVisualization ( const boost::shared_ptr< std::vector< CropBoxWrapperPtr >>  cropBoxWrapperPtrList)
inline

Definition at line 447 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerFrustumObjectPointCloudVisualization ( ObjectPointCloud &  frustumObjectPointCloud,
std::map< std::string, std::string > &  typeToMeshResource 
)
inline

triggerFrustumObjectPointCloudVisualization shows only objects without hypothesis.

Parameters
frustumObjectPointCloud
typeToMeshResource

Definition at line 425 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerFrustumsVisualization ( CameraModelFilterPtr  newCamera)
inline

visualizes the frustum of the last camera that was given and the frustum of the new given camera.

Parameters
newCamerathe new camera

Definition at line 274 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerGrid ( SpaceSamplerPtr  spaceSamplerPtr,
std::string  s 
)
inlineprivate

Definition at line 715 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerIterationVisualization ( int  iterationStep,
const SimpleQuaternionCollectionPtr &  sampledOrientationsPtr,
ViewportPoint  currentBestViewport,
SamplePointCloudPtr  pointcloud,
SpaceSamplerPtr  spaceSamplerPtr 
)
inline

Definition at line 166 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerNewFrustumVisualization ( CameraModelFilterPtr  newCamera)
inline

Definition at line 279 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerObjectNormalsVisualization ( ObjectPointCloud &  objectPointCloud)
inline

Definition at line 502 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerObjectPointCloudVisualization ( ObjectPointCloud &  objectPointCloud,
std::map< std::string, std::string > &  typeToMeshResource 
)
inline

triggerObjectPointCloudVisualization shows only objects without hypothesis

Parameters
objectPointCloud
typeToMeshResource

Definition at line 405 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerOldFrustumVisualization ( CameraModelFilterPtr  camera = NULL)
inline

Definition at line 322 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerSamplingVisualization ( ViewportPointCloudPtr  samples,
Color  markerColor,
std::string  ns 
)
inline

Definition at line 218 of file VisualizationsHelper.hpp.

void next_best_view::VisualizationHelper::triggerSpaceSampling ( SamplePointCloudPtr  pointcloud,
std::string  s 
)
inlineprivate

Definition at line 674 of file VisualizationsHelper.hpp.

static void next_best_view::VisualizationHelper::visualizePointCloudNormals ( ObjectPointCloud &  objectPointCloud,
visualization_msgs::MarkerArray::Ptr  objectNormalsMarkerArrayPtr,
ros::Publisher &  objectNormalsPublisher 
)
inlinestaticprivate

visualizePointCloudNormals visualizes all hypothesis of each object.

Parameters
objectPointCloudcontains objects
objectNormalsMarkerArrayPtrwhere to place new markers/current markers are located.
objectNormalsPublisherwhere to publish the markers

Definition at line 817 of file VisualizationsHelper.hpp.

static void next_best_view::VisualizationHelper::visualizePointCloudObjects ( ObjectPointCloud &  objectPointCloud,
std::map< std::string, std::string > &  typeToMeshResource,
visualization_msgs::MarkerArray::Ptr  objectMarkerArrayPtr,
ros::Publisher &  objectPublisher,
std_msgs::ColorRGBA::Ptr  objectColorPtr = NULL 
)
inlinestaticprivate

visualizePointCloudObjects visualizes objects of objectPointCloud, using typeToMeshResource to get meshes.

Parameters
objectPointCloudcontains objects
typeToMeshResourcecontains mesh informations per object
objectMarkerArrayPtrwhere to place new markers/current markers are located.
objectPublisherwhere to publish the markers
objectColorPtrcolor of objects, can be null/not set if object color should be used.

Definition at line 776 of file VisualizationsHelper.hpp.

Member Data Documentation

int next_best_view::VisualizationHelper::m_i
private

Definition at line 82 of file VisualizationsHelper.hpp.

float next_best_view::VisualizationHelper::m_j
private

Definition at line 83 of file VisualizationsHelper.hpp.

bool next_best_view::VisualizationHelper::mBoolClearBetweenIterations
private

Definition at line 85 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mCropBoxMarkerArrayPtr
private

Definition at line 76 of file VisualizationsHelper.hpp.

ros::Publisher next_best_view::VisualizationHelper::mCropBoxMarkerPublisher
private

Definition at line 64 of file VisualizationsHelper.hpp.

DebugHelperPtr next_best_view::VisualizationHelper::mDebugHelperPtr
private

Definition at line 80 of file VisualizationsHelper.hpp.

ros::Publisher next_best_view::VisualizationHelper::mFrustumMarkerArrayPublisher
private

Definition at line 60 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mFrustumObjectMeshMarkerArrayPtr
private

Definition at line 74 of file VisualizationsHelper.hpp.

ros::Publisher next_best_view::VisualizationHelper::mFrustumObjectMeshMarkerPublisher
private

Definition at line 62 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mFrustumObjectNormalsMarkerArrayPtr
private

Definition at line 75 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mIterationMarkerArrayPtr
private

Definition at line 69 of file VisualizationsHelper.hpp.

ros::Publisher next_best_view::VisualizationHelper::mIterationMarkerArrayPublisher
private

Definition at line 59 of file VisualizationsHelper.hpp.

int next_best_view::VisualizationHelper::mIterationStep
private

Definition at line 84 of file VisualizationsHelper.hpp.

MapHelperPtr next_best_view::VisualizationHelper::mMapHelperPtr
private

Definition at line 79 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mNewFrustumMarkerArrayPtr
private

Definition at line 70 of file VisualizationsHelper.hpp.

ros::NodeHandle next_best_view::VisualizationHelper::mNodeHandle
private

Definition at line 67 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mObjectMeshMarkerArrayPtr
private

Definition at line 72 of file VisualizationsHelper.hpp.

ros::Publisher next_best_view::VisualizationHelper::mObjectMeshMarkerPublisher
private

Definition at line 61 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mObjectNormalsMarkerArrayPtr
private

Definition at line 73 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mOldFrustumMarkerArrayPtr
private

Definition at line 71 of file VisualizationsHelper.hpp.

ros::Publisher next_best_view::VisualizationHelper::mPointObjectNormalPublisher
private

Definition at line 63 of file VisualizationsHelper.hpp.

int next_best_view::VisualizationHelper::mSampleCounter
private

Definition at line 86 of file VisualizationsHelper.hpp.

visualization_msgs::MarkerArray::Ptr next_best_view::VisualizationHelper::mSamplingMarkerArrayPtr
private

Definition at line 77 of file VisualizationsHelper.hpp.

ros::Publisher next_best_view::VisualizationHelper::mSamplingPublisher
private

Definition at line 65 of file VisualizationsHelper.hpp.

boost::mutex next_best_view::VisualizationHelper::mutex
private

Definition at line 89 of file VisualizationsHelper.hpp.

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

asr_next_best_view
Author(s): Aumann Florian, Borella Jocelyn, Heller Florian, Meißner Pascal, Schleicher Ralf, Stöckle Patrick, Stroh Daniel, Trautmann Jeremias, Walter Milena, Wittenbeck Valerij
autogenerated on Thu Jan 9 2020 07:20:18