#include <asrVisualizer.h>

Public Member Functions
void	addAttributedPoints (std::vector< AttributedPoint > hypotheses, std::vector< AttributedPoint > found_poses)

void	addPointToFoundBuffer (float x, float y)

void	addPointToFoundBuffer (Eigen::Vector2f point)

void	addPointToUnfoundBuffer (Eigen::Vector2f point)

	asrVisualizer (int max_number_of_published_vis_msgs=100)

void	generateMarkerArray (std::vector< AttributedPoint > hypotheses, std::vector< AttributedPoint > found_poses)
	asrVisualizer::generateMarkerArray generates a MarkerArray for RViz visualization More...

void	initAnimatedPlot (const std::string &pPlotTitle, const std::string &pXLabel, const std::string &pYLabel, const std::pair< float, float > &pXRange, const std::pair< float, float > &pYRange, const std::pair< float, float > &pDelta)

void	publishMarkerArray ()
	asrVisualizer::publishMarkerArray publishs the MarkerArray More...

void	publishRVizMarker (std::vector< AttributedPoint > hypotheses, std::vector< AttributedPoint > found_poses, const std::string target_frame="/map", const int id=1)

void	sendPlotToGnuplot ()

Private Attributes
ros::Publisher	hypothesis3dPublisher

double	marker_lifetime

visualization_msgs::MarkerArray	markerArray

std::vector< std::pair< double, double > >	mFoundBuffer

boost::shared_ptr< Gnuplot >	mGnuplotHandler

std::vector< std::pair< double, double > >	mUnfoundBuffer

std::vector< std::pair< float, float > >	mVisitedViews

ros::Publisher	publisher

Detailed Description

Definition at line 36 of file asrVisualizer.h.

Constructor & Destructor Documentation

ASR::asrVisualizer::asrVisualizer ( int max_number_of_published_vis_msgs = 100 )

Definition at line 24 of file asrVisualizer.cpp.

Member Function Documentation

void ASR::asrVisualizer::addAttributedPoints	(	std::vector< AttributedPoint >	hypotheses,
		std::vector< AttributedPoint >	found_poses
	)

Adds two lists of AttributedPoints to the list of unfound points and found points. Attributed Points contain a full pose and other additional information.

Parameters

hypothese	- the list that is stored to unfound points
found_poses	- the list that is stored to the found points

Adds two lists of AttributedPoints to the list of unfound points and found points. Attributet Points contain a full pose and other additional information.

Parameters

hypothese	- the list that is stored to unfound points
found_poses	- the list that is stored to the found points

Definition at line 56 of file asrVisualizer.cpp.

void ASR::asrVisualizer::addPointToFoundBuffer	(	float	x,
		float	y
	)

inline

Adds a new point to the list of found points

Definition at line 68 of file asrVisualizer.h.

void ASR::asrVisualizer::addPointToFoundBuffer ( Eigen::Vector2f point )

Adds a new point to the list of found points

Definition at line 37 of file asrVisualizer.cpp.

void ASR::asrVisualizer::addPointToUnfoundBuffer ( Eigen::Vector2f point )

Adds a new point to the list of unfound points

Definition at line 45 of file asrVisualizer.cpp.

void ASR::asrVisualizer::generateMarkerArray	(	std::vector< AttributedPoint >	hypotheses,
		std::vector< AttributedPoint >	found_poses
	)

asrVisualizer::generateMarkerArray generates a MarkerArray for RViz visualization

Generates a single MarkerArray RVIZ Message for visualization. The hypothesis and found objects are visualized as 3D Objects.

Parameters

hypotheses	- the list of hypothesis
found_poses	- the list of found objects

Generates a MarkerArray for visualization with RViz. The hypotheses and the found objects are visualized as 3D models.

Parameters

hypotheses	the pose hypothesis that are generated
found_poses	the found objects

Definition at line 238 of file asrVisualizer.cpp.

void ASR::asrVisualizer::initAnimatedPlot	(	const std::string &	pPlotTitle,
		const std::string &	pXLabel,
		const std::string &	pYLabel,
		const std::pair< float, float > &	pXRange,
		const std::pair< float, float > &	pYRange,
		const std::pair< float, float > &	pDelta
	)

Initializes the GnuPlot.

Parameters

pPlotTitle	- the name of the plot
pxLabel	- label of the x-axis
pyLabel	- label of the y-axis
pXRange	- x-axis range (min, max)
pYRange	- y-axis range (min, max)
pDelta	- scale of the helper lines

Definition at line 146 of file asrVisualizer.cpp.

void ASR::asrVisualizer::publishMarkerArray ( )

asrVisualizer::publishMarkerArray publishs the MarkerArray

Publishes the MarkerArray Message if it is not empty. The topic is "/recognizer_prediction_psm/visualization_marker_array"

Publishs the MarkerArray that has been generated by

generateMarkerArray(..)

. The topic is "/recognizer_prediction_psm". If the MarkerArray is empty nothing is published.

Definition at line 382 of file asrVisualizer.cpp.

void ASR::asrVisualizer::publishRVizMarker	(	std::vector< AttributedPoint >	hypotheses,
		std::vector< AttributedPoint >	found_poses,
		const std::string	target_frame = `"/map"`,
		const int	id = `1`
	)

Sends visualization messages to rviz. The two lists "hypothesis" and "found_poses" are publish as VISUALIZATION::MSG::MARKER under the topic "pose_predictor/hypothesis3d_markers" This topic is defined in the launch file. Found objects are marked as blue cubes, hypothesis are marked as red spheres.

Parameters

hypotheses	- the list of hypotheses that should be visualized
found_poses	- the list ob observed objects that should be visualized
target	frame - the frame to which the markers should be mapped to
id	- the id of the markers

Definition at line 83 of file asrVisualizer.cpp.

void ASR::asrVisualizer::sendPlotToGnuplot ( )

Sends the data to the gnuplot and draws the window which contains the plot.

Definition at line 200 of file asrVisualizer.cpp.

Member Data Documentation

ros::Publisher ASR::asrVisualizer::hypothesis3dPublisher

private

Definition at line 126 of file asrVisualizer.h.

double ASR::asrVisualizer::marker_lifetime

private

Definition at line 120 of file asrVisualizer.h.

visualization_msgs::MarkerArray ASR::asrVisualizer::markerArray

private

Definition at line 118 of file asrVisualizer.h.

std::vector<std::pair<double, double> > ASR::asrVisualizer::mFoundBuffer

private

Definition at line 130 of file asrVisualizer.h.

boost::shared_ptr<Gnuplot> ASR::asrVisualizer::mGnuplotHandler

private

Definition at line 123 of file asrVisualizer.h.

std::vector<std::pair<double, double> > ASR::asrVisualizer::mUnfoundBuffer

private

Definition at line 129 of file asrVisualizer.h.

std::vector<std::pair<float, float> > ASR::asrVisualizer::mVisitedViews

private

Definition at line 131 of file asrVisualizer.h.

ros::Publisher ASR::asrVisualizer::publisher

private

Definition at line 117 of file asrVisualizer.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