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Only released in EOL distros:  

cob_environment_perception: cob_3d_mapping_common | cob_3d_mapping_msgs | cob_3d_mapping_pipeline_fake | cob_3d_mapping_rviz_plugins | cob_3d_mapping_semantics | cob_3d_visualization

Package Summary

Visualization of 3D environment data using mainly interactive markers.

Package Summary

The cob_3d_visualization provides two nodes for creating interactive markers.

Simple Marker Visualization API

Class to simplify usage of markers for visualizing data. Classes can be found in simple_marker.h.

Example usage:

once at startup for initialization:

cob_3d_visualization::RvizMarkerManager::get().createTopic("/marker").setFrameId("/map").clearOld();

to visualize markers:

cob_3d_visualization::RvizMarkerManager::get().clear();
{
        cob_3d_visualization::RvizMarker scene;
        scene.sphere(center, 0.05);
        scene.color(0.1,1.,0.1);
}

cob_3d_visualization::RvizMarkerManager::get().publish();

Nodes

shape_visualization

Both nodes in this package create interactive markers from messages of type ShapeArray. Subscribing to Shape array messages published by geometry_map node in cob_3d_mapping_geometry_map package,shape_visualization node creates markers which enable the user to interact with the geometry map by clicking on the shapes and displaying the normal vector, centroid, contour of the shape as well as deleting or moving a particular marker.The geometry map can then be modified regarding the new interactive marker positions using a service call.

Subscribed Topics

/geometry_map/map_array (cob_3d_mapping_msgs/ShapeArray) /geometry_map/map/feedback (visualization_msgs/InteractiveMarkerFeedback)

Published Topics

/geometry_map/map/update (visualization_msgs/InteractiveMarkerUpdate) /geometry_map/map/update_full (visualization_msgs/InteractiveMarkerInit)

table_visualization

The table_visualization node creates interactive markers for tables detected by extract_tables node in cob_3d_mapping_semantics package. The user can then choose to move to a particular table. This will call the move_to_table service in cob_3d_mapping_semantics package.

Subscribed Topics

/geometry_map/map_array (cob_3d_mapping_msgs/ShapeArray) /geometry_map/map/feedback (visualization_msgs/InteractiveMarkerFeedback)

Published Topics

/geometry_map/map/update (visualization_msgs/InteractiveMarkerUpdate) /geometry_map/map/update_full (visualization_msgs/InteractiveMarkerInit)

Usage/Examples

Start shape_visualization node

roslaunch cob_3d_visualization shape_visualization.launch

A sample point map of the environment:

point_map.png

The corresponding interactive markers created for the existing geometry map

interactive_markers.png

Start table_visualization node

roslaunch cob_3d_visualization table_visualization.launch

Interactive Markers created for tables shown in red:

tables.png


2019-11-16 12:43