#include <GaussianVisualization.h>

Public Member Functions
	GaussianVisualization ()

visualization_msgs::Marker	generateArrowToPoint (const int pMarkerID, const std_msgs::ColorRGBA &pColor, const boost::shared_ptr< Eigen::Quaternion< double > > pPoint)

boost::shared_ptr< visualization_msgs::Marker >	generateCovarianceEllipsoidMarker (const int pMarkerID, const int pMarkerShape, const std::vector< std::vector< std::vector< float > > > &pWireFramePolygons, const float &pWireFrameWidth, const std_msgs::ColorRGBA &pEllipsoidColor)

visualization_msgs::Marker	generatePointCloudPoint (const int pMarkerID, const unsigned int pId, const boost::shared_ptr< Eigen::Quaternion< double > > &pPoint)

void	publishArrowToPoint (const int pMarkerID, const std_msgs::ColorRGBA &pColor, const boost::shared_ptr< Eigen::Quaternion< double > > pPoint)

void	publishCovarianceEllipsoidCoordinateSystemMarker (const int pMarkerID)

void	publishCovarianceEllipsoidMarker (const int pMarkerID, const std_msgs::ColorRGBA &pEllipsoidColor)

void	publishPointCloud (const int pMarkerID, const std::vector< boost::shared_ptr< Eigen::Quaternion< double > > > pCloud)

void	setAlphaChannel (const float pAlphaChannel)

void	setKernel (const boost::shared_ptr< Eigen::Vector3d > &pMean, const boost::shared_ptr< Eigen::Matrix3d > &pCovariance)

void	setObjectLocationFrameID (const std::string &pObjectLocationFrameID)

void	setScaleFactor (double pScale)

void	setSigmaMultiplicator (const float pSigmaMultiplicator)

template<class T >
void	stlVectorToPointMsg (const std::vector< T > pPositionVector, geometry_msgs::Point &pROSPositionMsg)

	~GaussianVisualization ()

Private Attributes
float	mAlphaChannel

boost::shared_ptr< Eigen::Matrix3d >	mCovariance

ros::NodeHandle	mHandle

boost::shared_ptr< Eigen::Vector3d >	mMean

std::string	mObjectLocationFrameID

boost::shared_ptr< ros::Publisher >	mPublisher

double	mScale

float	mSigmaMultiplicator

Detailed Description

Visualizer class for 3D gaussian normal distributions.

Author: Joachim Gehrung, Pascal Meissner

Version: See SVN

Definition at line 45 of file GaussianVisualization.h.

Constructor & Destructor Documentation

Visualization::GaussianVisualization::GaussianVisualization ( )

Constructor.

Definition at line 22 of file GaussianVisualization.cpp.

Visualization::GaussianVisualization::~GaussianVisualization ( )

Destructor.

Definition at line 29 of file GaussianVisualization.cpp.

Member Function Documentation

visualization_msgs::Marker Visualization::GaussianVisualization::generateArrowToPoint	(	const int	pMarkerID,
		const std_msgs::ColorRGBA &	pColor,
		const boost::shared_ptr< Eigen::Quaternion< double > >	pPoint
	)

Create a visualization marker message that contains an arrow pointing perpendicular to the given point.

Parameters

pMarkerID	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pColor	Color of the arrow. Specified as r/g/b/a vector, with values in the range of [0, 1].
pPoint	The point to point to ;).

Definition at line 266 of file GaussianVisualization.cpp.

boost::shared_ptr< visualization_msgs::Marker > Visualization::GaussianVisualization::generateCovarianceEllipsoidMarker	(	const int	pMarkerID,
		const int	pMarkerShape,
		const std::vector< std::vector< std::vector< float > > > &	pWireFramePolygons,
		const float &	pWireFrameWidth,
		const std_msgs::ColorRGBA &	pEllipsoidColor
	)

Calculates covariance ellipsoid from a parametric description of an nD normal distribution. Parameterizes a spherical shaped marker message using mean of distribution, calculated ellipsoid and other parameters of this function.

Parameters

pMarkerID	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pMarkerShape	Should be either visualization_msgs::Marker::SPHERE for surface model or LINE_STRIP for wire-frame model.
pWireFramePolygons	Contour polygons (middle) containing 3D points (inner) approximating ellipses in the three (outer vector) coordinate planes with normals in x/y/z order. Assign emtpy vector if surface model should be generated.
pWireFrameWidth	Sets the width of the lines representing wire-frame. Ignored if surface model is desired.
pEllipsoidColor	Color of the ellipsoid. Specified as r/g/b/a vector, with values in the range of [0, 1].

Returns: RViz marker message ready for being published.

Definition at line 74 of file GaussianVisualization.cpp.

visualization_msgs::Marker Visualization::GaussianVisualization::generatePointCloudPoint	(	const int	pMarkerID,
		const unsigned int	pId,
		const boost::shared_ptr< Eigen::Quaternion< double > > &	pPoint
	)

Create a visualization marker message that contains a point of the point cloud.

Parameters

pMarkerID	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pId	The number of the point in the cloud.
pPoint	The point to visualize.

Definition at line 328 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::publishArrowToPoint	(	const int	pMarkerID,
		const std_msgs::ColorRGBA &	pColor,
		const boost::shared_ptr< Eigen::Quaternion< double > >	pPoint
	)

Create a visualization marker message that contains an arrow pointing perpendicular to the given point and publishes it.

Parameters

pMarkerID	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pColor	Color of the arrow. Specified as r/g/b/a vector, with values in the range of [0, 1].
pPoint	The point to point to ;).

Definition at line 256 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::publishCovarianceEllipsoidCoordinateSystemMarker ( const int pMarkerID )

Visualizes the eigenvectors of the covariance matrix which are also the coordinate system of the covariance ellipse.

Parameters

pMarkerID Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.

Definition at line 199 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::publishCovarianceEllipsoidMarker	(	const int	pMarkerID,
		const std_msgs::ColorRGBA &	pEllipsoidColor
	)

Calculates covariance ellipsoid from a parametric description of an nD normal distribution. Parameterizes a spherical shaped marker message using mean of distribution, calculated ellipsoid and other parameters of this function. Sends marker message under topic set by publisher argument of function to visualize a hull for some distribution samples.

Parameters

pMarkerID	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pEllipsoidColor	Color of the ellipsoid. Specified as r/g/b/a vector, with values in the range of [0, 1].

Definition at line 64 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::publishPointCloud	(	const int	pMarkerID,
		const std::vector< boost::shared_ptr< Eigen::Quaternion< double > > >	pCloud
	)

Create a visualization marker message that contains the point cloud.

Parameters

pMarkerID	Serves as unique id for the marker. Any marker sent with the same id will overwrite the old one.
pCloud	The point cloud to visualize.

Definition at line 317 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::setAlphaChannel ( const float pAlphaChannel )

Setter function for mAlphaChannel.

Parameters

pAlphaChannel Sets transparency of visualized covariance ellipsoid.

Definition at line 49 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::setKernel	(	const boost::shared_ptr< Eigen::Vector3d > &	pMean,
		const boost::shared_ptr< Eigen::Matrix3d > &	pCovariance
	)

Setter function for the mean vector and covariance matrix of the kernel.

Parameters

pCovariance	A 3x3 eigen matrix representing the corvariance matrix of the gaussian kernel.
pMean	A 3d eigen vector representing the mean of the gaussian kernel.

Definition at line 33 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::setObjectLocationFrameID ( const std::string & pObjectLocationFrameID )

Setter function for mObjectLocationFrameID.

Parameters

pObjectLocationFrameID Identifier for coordinate frame relative to which visualized covariance ellipsoid are defined.

Definition at line 44 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::setScaleFactor ( double pScale )

The covariance ellipses tend to be very small, therefore a scaling factor shall be applied to it.

Parameters

pScale Factor to multiply the kernel with.

Definition at line 39 of file GaussianVisualization.cpp.

void Visualization::GaussianVisualization::setSigmaMultiplicator ( const float pSigmaMultiplicator )

Setter function for mSigmaMultiplicator.

Parameters

pSigmaMultiplicator Scaling factor for the size of the visualized covariance ellipsoid.

Definition at line 54 of file GaussianVisualization.cpp.

template<class T >

void Visualization::GaussianVisualization::stlVectorToPointMsg	(	const std::vector< T >	pPositionVector,
		geometry_msgs::Point &	pROSPositionMsg
	)

Converts a 3D std::vector<T> of arbitrary compatible type T into a geometry_msgs/Point.msg from ROS.

Parameters

pPositionVector	STL representation of vector consisting of concatenated cartesian coordinates.
pROSPositionMsg	ROS message containing position information as cartesian point in 3D space.

Definition at line 374 of file GaussianVisualization.cpp.

Member Data Documentation

float Visualization::GaussianVisualization::mAlphaChannel

private

Degree of transparency of ellipsoid visualized in rviz. Specified with values in the range of [0, 1] standing for increasing opacity.

Definition at line 200 of file GaussianVisualization.h.

boost::shared_ptr<Eigen::Matrix3d> Visualization::GaussianVisualization::mCovariance

private

The covariance matrix of the multivariate gaussian.

Definition at line 190 of file GaussianVisualization.h.

ros::NodeHandle Visualization::GaussianVisualization::mHandle

private

Node handle for inintializing the publisher.

Definition at line 170 of file GaussianVisualization.h.

boost::shared_ptr<Eigen::Vector3d> Visualization::GaussianVisualization::mMean

private

The mean vector of the multivariate gaussian.

Definition at line 185 of file GaussianVisualization.h.

std::string Visualization::GaussianVisualization::mObjectLocationFrameID

private

ROS tf coordinate frame relative to which all processed pose information shall be interpreted.

Definition at line 195 of file GaussianVisualization.h.

boost::shared_ptr<ros::Publisher> Visualization::GaussianVisualization::mPublisher

private

Publisher for the visualization messages containing the covariance ellipses and position marker for observed objects.

Definition at line 175 of file GaussianVisualization.h.

double Visualization::GaussianVisualization::mScale

private

The factor to multiply the kernel with to make it look bigger.

Definition at line 180 of file GaussianVisualization.h.

float Visualization::GaussianVisualization::mSigmaMultiplicator

private

Lengths of half-axes of the ellipsoid are pSigmaMultiplicator times the standard deviations associated to the coordinate axes of the ellipsoid.

Definition at line 205 of file GaussianVisualization.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation