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--- doc:marker_visualization [2015/10/19 14:38] – [Usage] daniel86
+++ doc:marker_visualization [2015/10/19 15:07] (current) – [Marker-based visualization canvas] daniel86
@@ Line 9: / Line 9: @@
 Based on [[http://www.ros.org/wiki/rviz/DisplayTypes/Marker|rviz Markers]], this visualization module can display 3D information in a browser-based canvas that has been built using the [[https://github.com/RobotWebTools/ros3djs|ros3djs library]].
+===== Marker Types =====
+The set of supported marker primitive types can be queried using the ''marker_prop_type(Type,_)'' predicate.
+The primitive types include arrow, cube, sphere, cylinder, line_strip, line_list, cube_list, sphere_list, points, text_view_facing, mesh_resource and triangle_list.
+Primitive markers can be created using ''marker($type('Name'),_)'', where $type must be replaced by one of the primitive types.
+In addition, KnowRob supports a set of complex marker types.
+  * **cylinder_tf(Frame0,Frame1)**: A cylinder between 2 links
+  * **link(Frame)**: A marker that takes the pose of a link
+  * **trajectory(Frame)**: A trajectory of a link
+  * **trail(Frame)**: A trail of a link (trajectory with alpha fade)
+  * **average_trajectory(Frame)**: The average over multiple trajectories
+  * **pointer(Frame0,Frame1)**: Arrow that points from Frame0 in the direction of Frame1
+  * **object(Name)**: A marker that represents an OWL individual (including children objects)
+  * **agent(Name)**: A marker that represents an OWL agent individual (including all links)
+  * **stickman(Name)**: A special human skeleton visualization, kinematic structure is spanned by the OWL individual indentified by Name
 ===== Usage =====
-The following queries read data from a semantic map and visualize it in the browser-based visualization.
+First, setup the rosbridge communication interface and initialiaze the `knowrob_vis` package.
   $ roslaunch rosbridge_server rosbridge_websocket.launch
   $ rosrun rosprolog  rosprolog knowrob_vis
+Markers must be explicitly published by the user with following query ([[http://www.open-ease.org/|openEASE]] does this automatically).
+  % publish modified marker
+  ?- marker_publish.
+==== Semantic Map Marker ====
+The following queries read data from a semantic map and visualize it in the browser-based visualization.
   % load and visualize semantic map
   ?- owl_parse('package://knowrob_map_data/owl/ccrl2_semantic_map.owl').
@@ Line 23: / Line 50: @@
   ?- owl_individual_of(A, knowrob:'ElectricalHouseholdAppliance'), marker_highlight(object(A)).
-  % publish modified marker
+==== Agent Marker ====
-  ?- marker_publish.
+The following queries read data from a robot description, look up the robot pose in the mongo DB
+and visualize it in the browser-based visualization.
+  % load and visualize the pr2 robot for given timepoint T
+  ?- owl_parse('package://knowrob_srdl/owl/PR2.owl').
+  ?- mng_robot_pose_at_time(pr2:'PR2Robot1','/map',T,_), marker_update(object(pr2:'PR2Robot1'),End).
+==== Trajectory Marker ====
+The following queries read data from a robot description, sample the '/base_link' between T0 and T1
+and visualize it in the browser-based visualization.
+  % load and visualize the base link of the pr2 robot for given timerange (T0,T1)
+  ?- owl_parse('package://knowrob_srdl/owl/PR2.owl').
+  ?- marker_update(trajectory('/base_link'), interval(T0,T1,dt(Interval))).
 ===== Visualizing 3D object meshes =====