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articulation: articulation_models | articulation_msgs | articulation_perception | articulation_rviz_plugin | articulation_structure | articulation_tutorials | icp

Package LinksDependencies (5)
Used by (2)

Package Summary

No API documentation

This package contains two visualization plugins for the RVIZ viewer, for displaying messages of articulation_msgs/TrackMsg and articulation_msgs/ModelMsg messages. This is useful for the debugging and visualization of fitted articulation models.

Contents

  1. Track Display
    1. Adding the track display to RVIZ
    2. Visualization of a trajectory
    3. Colorize trajectory according to its 'track.id'
    4. Colorize the poses according to their indices
  2. Model Display
    1. Adding the model display to RVIZ
    2. Visualization of a trajectory
    3. Visualization of a trajectory projected onto the model
    4. Visualization of the projected trajectory, and its Jacobian and Hessian
    5. Colorize poses according to their likelihood, given the model
    6. Colorize models according to prior clustering

Track Display

Adding the track display to RVIZ

track_display.png

Visualization of a trajectory

track_simple.png

Colorize trajectory according to its 'track.id'

track_hue_id.png

Colorize the poses according to their indices

track_hue_time.png

Model Display

Adding the model display to RVIZ

model_display.png

Visualization of a trajectory

model_simple.png

Visualization of a trajectory projected onto the model

model_projected.png

Visualization of the projected trajectory, and its Jacobian and Hessian

model_jacobian_hessian.png

Colorize poses according to their likelihood, given the model

model_likelihood.png

Colorize models according to prior clustering

model_prior_id.png

2022-05-28 12:27