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cad_models [2013/01/07 12:03] – [Visualize object using CAD models] tenorthcad_models [2014/06/05 11:38] (current) – external edit 127.0.0.1
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-====== Visualize objects using CAD models ====== +#REDIRECT doc:cad_models
- +
-This should be a quick start guide for using CAD models in KnowRob. CAD Models are used to show a realistic model of an object in KnowRob visualization (mod_vis). Please refer to the main knowrob tutorial ([[Tutorial:_KnowRob_basics]]) for getting started. +
- +
- +
-===== Initializing package ===== +
- +
-  * Start mod_vis +
- rosrun rosprolog rosprolog mod_vis +
-  * Open the visualisation +
- visualisation_canvas(C). +
-  * Load knowrob_cad_models package +
- register_ros_package(knowrob_cad_models). +
- +
-===== Loading CAD Models ===== +
- +
-* Add a model to the scene +
- owl_has(A, rdf:type, knowrob:'DrinkingBottle'), add_object(A, $C). +
- +
-===== Query model information ===== +
- +
-  * Getting the total size (in meters) in x direction. +
-    * x = width +
-    * z = height +
-    * y = depth +
- +
- cad_model_zdim('http://ias.cs.tum.edu/kb/knowrob_cad_models.owl#CokeBottle',Dim). +
- +
-For additional properties see [[#Model information from OWL|Model information from OWL]] +
- +
-===== Structure of parser ===== +
-The base class for all parsers should be ModelParser. +
-It contains some essential methods for using parsers and has a list of Triangles and Lines loaded from the model. +
-So each parser should store the loaded data in the Group (which represents a Triangle/Lines mesh) member to keep everything simple. +
-A group can has a name. +
-It's mesh member stores the Triangle and Lines information. +
-A Triangle can has texture and color. A line only a color. +
- +
-==== Model Parser ==== +
- +
-The model parser is used to parse a CAD Model from a given file and is the base class for all parsers. +
-The parser loads a file and "converts" it so that it can be stored as a list of triangles and lines. +
- +
-A special feature of the ModelParser is Buffering: +
-If a model has been parset it will be stored in a model buffer. +
-So if the same model should be parsed again it will be taken from this buffer instead of parsing it again. +
-Keep in mind that if you change something in a Group of a specific model it will affect all the other existing instances of this model. +
- +
-==== List of available parsers ==== +
- +
-Currently the following file formats are supported: +
-  * [[#Collada Parser|Collada]]: *.dae, *.kmz +
- +
-=== Collada Parser === +
-The collada parser uses [http://sourceforge.net/p/dae4j/ dae4j] library to parse the collada xml format. +
-Currently dae4j hasn't implemented the whole collada specification, but it seems the best out there for java. +
- +
-.kmz files will be extracted (zip) into a temporary directory and parsed from there. +
- +
-====  How to create a new parser? ====  +
-Check out ColladaParser for a sample implementation of a parser. +
- +
-Steps to create a new model parser: +
- +
-  * create a new class and extend it from ModelParser +
-  * Add your parser to the extension list (In ModelParser.java) so a file extension will be assigned to your parser: +
-    * Example: <code>extensionAssignment.put("dae", ColladaParser.class);</code> +
-  * implement the needed methods. These should be self explained (see javadoc) +
-  * Store all data in Groups member of ModelParser parent. +
- +
-=====  Model information from OWL ===== +
- +
-You can query some properties such as the dimension of a loaded cad model from within prolog. +
- +
-Here is a list of the most important property queries. For a full list check knowrob_cad_models/prolog/knowrob_cad_models.pl. +
- +
-== List of queries == +
- +
-identifier is a knowrob identifier such as "knowrob:'DrinkingBottle'" +
- +
-; Height of the model in meters +
-: <code>cad_model_zdim(identifier,Return).</code> +
- +
-; Width of the model in meters +
-: <code>cad_model_xdim(identifier,Return).</code> +
- +
-; Depth of the model in meters +
-: <code>cad_model_ydim(identifier,Return).</code>+