superq-cloud-display

Display the superquadric computed by superquadric-model together with those computed by find-superquadric in order to visually evaluate the fit with the corresponding point cloud in a 3D space.

Dependencies

• Yarp
• iCub
• VTK

Usage

The module is supposed to be used as a 3D visualization tool for the output of superquadric-model(https://github.com/robotology/superquadric-model) and find-superquadric. Once run, the following YARP ports are opened:

• /superq-cloud-display/pointCloud:i is meant to receive the point cloud stream from an acquisition module, e.g. point-cloud-read
• superq-cloud-display/superquadricFiniteDiff:i is meant to receive the parameters of superquadrics computed by superquadric-model(https://github.com/robotology/superquadric-model)
• superq-cloud-display/superquadricAnalyticalGrad:i is meant to receive the parameters of superquadrics computed by find-superquadric

The module spawns a 3D rendering window containing the point cloud and superquadrics. The key bindings to move the camera are explained here in the Detailed Description section.

Notes

This will work as a helper to any module, not only superquadric-model, find-superquadric and point-cloud-read. However, in order to achieve this, the following constraints must hold

• /superq-cloud-display/pointCloud:i is a yarp::os::BufferedPort<Matrix>, where points are stored as lines in the format

 x0 y0 z0 [r0 g0 b0]
 x1 y1 z1 [r1 g1 b1]
 ...

• /superq-cloud-display/superquadricAnalyticalGrad:i and /superq-cloud-display/superquadricFiniteDiff:i must receive messages in the form of yarp::sig::Bottle or yarp::sig::Property containing the parameters as nested lists in the format (dimensions (x0 x1 x2)) (exponents (x3 x4)) (center (x5 x6 x7)) (orientation (x8 x9 x10 x11))