VirtualRobot::CoinVisualizationFactory Class Reference

Inheritance diagram for VirtualRobot::CoinVisualizationFactory:

Public Types
typedef std::map< std::pair< size_t, std::string >, void * >	TextureCacheMap
Public Types inherited from AbstractFactoryMethod< VisualizationFactory, void *>
typedef std::shared_ptr< VisualizationFactory >(*	initialisationFunction) (void *)

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CoinVisualizationFactory ()
	~CoinVisualizationFactory () override
void	init (int &argc, char *argv[], const std::string &appName) override
VisualizationNodePtr	getVisualizationFromPrimitives (const std::vector< Primitive::PrimitivePtr > &primitives, bool boundingBox=false, Color color=Color::Gray()) override
VisualizationNodePtr	getVisualizationFromFile (const std::string &filename, bool boundingBox=false, float scaleX=1.0f, float scaleY=1.0f, float scaleZ=1.0f) override
virtual VisualizationNodePtr	getVisualizationFromFileWithAssimp (const std::string &filename, bool boundingBox=false, float scaleX=1.0f, float scaleY=1.0f, float scaleZ=1.0f)
virtual VisualizationNodePtr	getVisualizationFromCoin3DFile (const std::string &filename, bool boundingBox=false)
VisualizationNodePtr	getVisualizationFromFile (const std::ifstream &ifs, bool boundingBox=false, float scaleX=1.0f, float scaleY=1.0f, float scaleZ=1.0f) override
virtual VisualizationNodePtr	getVisualizationFromString (const std::string &modelString, bool boundingBox=false)
virtual VisualizationPtr	getVisualization (const std::vector< VisualizationNodePtr > &visus)
virtual VisualizationPtr	getVisualization (VisualizationNodePtr visu)
VisualizationNodePtr	createBox (float width, float height, float depth, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override
VisualizationNodePtr	createLine (const Eigen::Vector3f &from, const Eigen::Vector3f &to, float width=1.0f, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override
VisualizationNodePtr	createLine (const Eigen::Matrix4f &from, const Eigen::Matrix4f &to, float width=1.0f, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override
VisualizationNodePtr	createSphere (float radius, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override
VisualizationNodePtr	createCylinder (float radius, float height, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override
VisualizationNodePtr	createCircle (float radius, float circleCompletion, float width, float colorR=1.0f, float colorG=0.5f, float colorB=0.5f, size_t numberOfCircleParts=30) override
VisualizationNodePtr	createCoordSystem (float scaling=1.0f, std::string *text=NULL, float axisLength=100.0f, float axisSize=3.0f, int nrOfBlocks=10) override
VisualizationNodePtr	createBoundingBox (const BoundingBox &bbox, bool wireFrame=false) override
VisualizationNodePtr	createVertexVisualization (const Eigen::Vector3f &position, float radius, float transparency, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override
VisualizationNodePtr	createTriMeshModelVisualization (const TriMeshModelPtr &model, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity(), float scaleX=1.0f, float scaleY=1.0f, float scaleZ=1.0f) override
VisualizationNodePtr	createTriMeshModelVisualization (const TriMeshModelPtr &model, bool showNormals, const Eigen::Matrix4f &pose, bool showLines=true) override
VisualizationNodePtr	createPlane (const Eigen::Vector3f &position, const Eigen::Vector3f &normal, float extend, float transparency, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f) override
VisualizationNodePtr	createArrow (const Eigen::Vector3f &n, float length=50.0f, float width=2.0f, const Color &color=Color::Gray()) override
VisualizationNodePtr	createCircleArrow (float radius, float tubeRadius, float completion=1, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f, float transparency=0.0f, int sides=8, int rings=30) override
VisualizationNodePtr	createTrajectory (TrajectoryPtr t, Color colorNode=Color::Blue(), Color colorLine=Color::Gray(), float nodeSize=15.0f, float lineSize=4.0f) override
VisualizationNodePtr	createText (const std::string &text, bool billboard=false, float scaling=1.0f, Color c=Color::Black(), float offsetX=20.0f, float offsetY=20.0f, float offsetZ=0.0f) override
VisualizationNodePtr	createTorus (float radius, float tubeRadius, float completion=1, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f, float transparency=0.0f, int sides=8, int rings=30) override
VisualizationNodePtr	createEllipse (float x, float y, float z, bool showAxes=true, float axesHeight=4.0f, float axesWidth=8.0f) override
void	applyDisplacement (VisualizationNodePtr o, Eigen::Matrix4f &m) override
VisualizationNodePtr	createVisualization () override
VisualizationNodePtr	createUnitedVisualization (const std::vector< VisualizationNodePtr > &visualizations) const override
void	cleanup () override
Public Member Functions inherited from VirtualRobot::VisualizationFactory
	VisualizationFactory ()=default
virtual	~VisualizationFactory ()=default
virtual VisualizationNodePtr	createPlane (const MathTools::Plane &plane, float extend, float transparency, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f)
Public Member Functions inherited from AbstractFactoryMethod< VisualizationFactory, void *>
void	setDescription (const std::string &newDescription)
std::string	getDescription () const

Static Public Member Functions
static SoSeparator *	CreateConvexHull2DVisualization (const MathTools::ConvexHull2DPtr ch, MathTools::Plane &p, VisualizationFactory::Color colorInner=VisualizationFactory::Color::Blue(), VisualizationFactory::Color colorLine=VisualizationFactory::Color::Black(), float lineSize=5.0f, const Eigen::Vector3f &offset=Eigen::Vector3f::Zero())
static SoSeparator *	CreatePolygonVisualization (const std::vector< Eigen::Vector3f > &points, VisualizationFactory::Color colorInner=VisualizationFactory::Color::Blue(), VisualizationFactory::Color colorLine=VisualizationFactory::Color::Black(), float lineSize=4.0f)
static SoSeparator *	CreatePolygonVisualization (const std::vector< Eigen::Vector3f > &points, VisualizationFactory::PhongMaterial mat, VisualizationFactory::Color colorLine=VisualizationFactory::Color::Black(), float lineSize=4.0f)
static SoSeparator *	CreatePlaneVisualization (const Eigen::Vector3f &position, const Eigen::Vector3f &normal, float extend, float transparency, bool grid=true, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f, std::string textureFile=std::string())
static SoSeparator *	CreateCoordSystemVisualization (float scaling=1.0f, std::string *text=NULL, float axisLength=100.0f, float axisSize=3.0f, int nrOfBlocks=10)
static SoSeparator *	CreateBoundingBox (SoNode *ivModel, bool wireFrame=false)
static SoSeparator *	CreateGrid (float width, float depth, float widthMosaic, float depthMosaic, bool InvertNormal, const char *pFileName, float Transparency)
static SoSeparator *	CreateBBoxVisualization (const BoundingBox &bbox, bool wireFrame=false)
static SoSeparator *	CreatePointVisualization (const MathTools::ContactPoint &point, bool showNormals=false)
static SoSeparator *	CreatePointsVisualization (const std::vector< MathTools::ContactPoint > &points, bool showNormals=false)
static SoSeparator *	CreateArrow (const Eigen::Vector3f &pt, const Eigen::Vector3f &n, float length=50.0f, float width=2.0f, const Color &color=Color::Gray())
static SoSeparator *	CreateArrow (const Eigen::Vector3f &n, float length=50.0f, float width=2.0f, const Color &color=Color::Gray())
static SoSeparator *	CreateVertexVisualization (const Eigen::Vector3f &position, float radius, float transparency, float colorR=0.5f, float colorG=0.5f, float colorB=0.5f)
static SoSeparator *	CreateVerticesVisualization (const std::vector< Eigen::Vector3f > &positions, float radius, VisualizationFactory::Color color=VisualizationFactory::Color::Gray())
static void	RemoveDuplicateTextures (SoNode *node, const std::string &currentPath)
static SoSeparator *	CreateEllipse (float x, float y, float z, SoMaterial *matBody=NULL, bool showAxes=true, float axesHeight=4.0f, float axesWidth=8.0f, SoMaterial *matAxisX=NULL, SoMaterial *matAxisY=NULL, SoMaterial *matAxisZ=NULL)
static SoSeparator *	CreateSphere (float radius, float colorR, float colorG, float colorB)
static SoSeparator *	CreateSphere (const Eigen::Vector3f &p, float radius, float colorR, float colorG, float colorB)
static SoSeparator *	CreateCylindroid (float axisLengthX, float axisLengthY, float height, SoMaterial *matBody=nullptr)
static SoSeparator *	Create2DMap (const Eigen::MatrixXf &d, float extendCellX, float extendCellY, const VirtualRobot::ColorMap cm=VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool drawZeroCells=false, bool drawLines=true)
static SoSeparator *	Create2DHeightMap (const Eigen::MatrixXf &d, float extendCellX, float extendCellY, float heightZ, const VirtualRobot::ColorMap cm=VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool drawZeroCells=false, bool drawLines=true)
static SoSeparator *	CreateOOBBVisualization (const MathTools::OOBB &oobb, Color colorLine=Color::Gray(), float lineSize=4.0f)
static SoSeparator *	CreateSegmentVisualization (const MathTools::Segment &s, Color colorLine=Color::Gray(), float lineSize=4.0f)
static SoSeparator *	Colorize (SoNode *model, VisualizationFactory::Color c)
static SbMatrix	getSbMatrix (const Eigen::Matrix4f &m)
static SbMatrix	getSbMatrixVec (const Eigen::Vector3f &m)
static SoSeparator *	CreateGraspSetVisualization (GraspSetPtr graspSet, EndEffectorPtr eef, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity(), SceneObject::VisualizationType visu=SceneObject::Full)
static SoSeparator *	CreateGraspVisualization (GraspPtr grasp, SoSeparator *eefVisu, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity())
static SoSeparator *	CreateGraspVisualization (GraspPtr grasp, EndEffectorPtr eef, const Eigen::Matrix4f &pose=Eigen::Matrix4f::Identity(), SceneObject::VisualizationType visu=SceneObject::Full)
static SoSeparator *	CreateEndEffectorVisualization (EndEffectorPtr eef, SceneObject::VisualizationType=SceneObject::Full)
static SoNode *	getColorNode (Color color)
static SoSeparator *	CreateText (const std::string &s, float offsetX=20.0f, float offsetY=20.0f, float offsetZ=0.0f)
static SoSeparator *	CreateBillboardText (const std::string &s, float offsetX=20.0f, float offsetY=20.0f, float offsetZ=0.0f)
static SoNode *	getCoinVisualization (RobotPtr robot, SceneObject::VisualizationType visuType, bool selectable=true)
static SoNode *	getCoinVisualization (SceneObjectPtr object, SceneObject::VisualizationType visuType)
static SoNode *	getCoinVisualization (VirtualRobot::EndEffector::ContactInfoVector &contacts, float frictionConeHeight=30.0f, float frictionConeRadius=15.0f, bool scaleAccordingToApproachDir=true)
static SoNode *	getCoinVisualization (EndEffector::ContactInfo &contact, float frictionConeHeight=30.0f, float frictionConeRadius=15.0f, bool scaleAccordingToApproachDir=true)
static SoNode *	getCoinVisualization (VisualizationNodePtr visu)
static SoNode *	getCoinVisualization (TriMeshModelPtr model)
static SoNode *	getCoinVisualization (TriMeshModelPtr model, bool shownormals, VisualizationFactory::Color color=VisualizationFactory::Color::Gray(), bool showLines=true)
static SoNode *	getCoinVisualization (TrajectoryPtr t, Color colorNode=Color::Blue(), Color colorLine=Color::Gray(), float nodeSize=15.0f, float lineSize=4.0f)
static SoNode *	getCoinVisualization (WorkspaceRepresentationPtr reachSpace, const VirtualRobot::ColorMap cm, bool transformToGlobalPose=true, float maxZGlobal=1e10, float minAngle=-M_PI, float maxAngle=M_PI)
static SoNode *	getCoinVisualization (WorkspaceRepresentationPtr reachSpace, VirtualRobot::ColorMap cm, const Eigen::Vector3f &axis, bool transformToGlobalPose=true, unsigned char minValue=0, float arrowSize=0, int nrRotations=1)
static SoNode *	getCoinVisualization (WorkspaceRepresentationPtr reachSpace, const Eigen::Vector3f &fixedEEFOrientationGlobalRPY, VirtualRobot::ColorMap cm=VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool transformToGlobalPose=true, const Eigen::Vector3f &axis=Eigen::Vector3f(0, 0, 1.0f), unsigned char minValue=0, float arrowSize=0)
	Helper method: Create reach space visualization of a fixed orientation. More...
static SoNode *	getCoinVisualization (WorkspaceRepresentationPtr reachSpace, int a, int b, int c, int nrBestEntries, SoSeparator *arrow, const VirtualRobot::ColorMap &cm, bool transformToGlobalPose, unsigned char minValue)
	helper method: create nrBestEntries arrows in direction of maximum orientation for voxelPosition (a,b,c) More...
static SoNode *	getCoinVisualization (TSRConstraintPtr constraint, const Color &color)
static SoNode *	getCoinVisualization (BalanceConstraintPtr constraint, const Color &color)
static SoNode *	getCoinVisualization (PoseConstraintPtr constraint, const Color &color)
static SoNode *	getCoinVisualization (PositionConstraintPtr constraint, const Color &color)
static SoNode *	getCoinVisualization (SupportPolygonPtr supportPolygon, const Color &color)
static SoMatrixTransform *	getMatrixTransform (const Eigen::Matrix4f &m)
static SoMatrixTransform *	getMatrixTransformScaleMM2M (const Eigen::Matrix4f &m)
static SoNode *	createCoinLine (const Eigen::Matrix4f &from, const Eigen::Matrix4f &to, float width, float colorR, float colorG, float colorB)
static SoNode *	createCoinPartCircle (float radius, float circleCompletion, float width, float colorR, float colorG, float colorB, size_t numberOfCircleParts, float offset=0)
static SoNode *	getCoinVisualization (WorkspaceGridPtr reachGrid, VirtualRobot::ColorMap cm, bool transformToGlobalPose=true)
static SoNode *	getCoinVisualization (VirtualRobot::WorkspaceRepresentation::WorkspaceCut2DPtr cutXY, VirtualRobot::ColorMap cm, const Eigen::Vector3f &normal=Eigen::Vector3f::UnitY(), float maxEntry=0.0f, float minAngle=-M_PI, float maxAngle=M_PI)
static SoOffscreenRenderer *	createOffscreenRenderer (unsigned int width, unsigned int height)
static bool	renderOffscreen (SoOffscreenRenderer *renderer, RobotNodePtr camNode, SoNode *scene, unsigned char **buffer, float zNear=10.f, float zFar=100000.f, float fov=M_PI/4)
static bool	renderOffscreenRgbDepthPointcloud (RobotNodePtr camNode, SoNode *scene, short width, short height, bool renderRgbImage, std::vector< unsigned char > &rgbImage, bool renderDepthImgae, std::vector< float > &depthImage, bool renderPointcloud, std::vector< Eigen::Vector3f > &pointCloud, float zNear=10.f, float zFar=100000.f, float vertFov=M_PI/4, float nanValue=NAN)
	Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud. More...
static bool	renderOffscreenRgbDepthPointcloud (SoOffscreenRenderer *renderer, RobotNodePtr camNode, SoNode *scene, short width, short height, bool renderRgbImage, std::vector< unsigned char > &rgbImage, bool renderDepthImage, std::vector< float > &depthImage, bool renderPointcloud, std::vector< Eigen::Vector3f > &pointCloud, float zNear=10.f, float zFar=100000.f, float vertFov=M_PI/4, float nanValue=NAN)
	Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud. This version is much faster if always the same SoOffscreenRenderer is passed in. More...
static bool	renderOffscreenRgbDepthPointcloud (SoOffscreenRenderer *renderer, const Eigen::Matrix4f camPose, SoNode *scene, short width, short height, bool renderRgbImage, std::vector< unsigned char > &rgbImage, bool renderDepthImage, std::vector< float > &depthImage, bool renderPointcloud, std::vector< Eigen::Vector3f > &pointCloud, float zNear=10.f, float zFar=100000.f, float vertFov=M_PI/4, float nanValue=NAN)
static bool	renderOffscreenRgbDepthPointcloud (RobotNodePtr camNode, SoNode *scene, short width, short height, std::vector< unsigned char > &rgbImage, std::vector< float > &depthImage, std::vector< Eigen::Vector3f > &pointCloud, float zNear=10.f, float zFar=100000.f, float vertFov=M_PI/4, float nanValue=NAN)
	Renders the given scene from the given cam position and outputs the rgb image, depth image and point cloud. More...
static bool	renderOffscreen (SoOffscreenRenderer *renderer, SoPerspectiveCamera *cam, SoNode *scene, unsigned char **buffer)
static SoGroup *	convertSoFileChildren (SoGroup *orig)
static SoNode *	copyNode (SoNode *n)
static std::string	getName ()
static std::shared_ptr< VisualizationFactory >	createInstance (void *)
Static Public Member Functions inherited from AbstractFactoryMethod< VisualizationFactory, void *>
static std::shared_ptr< VisualizationFactory >	fromName (const std::string &name, void * params)
static std::shared_ptr< VisualizationFactory >	first (void * params)
static std::string	getName ()
static std::shared_ptr< VisualizationFactory >	createInstance (void *)
static void	registerClass (const std::string &name, initialisationFunction init)
static std::vector< std::string >	getSubclassList ()

Static Protected Member Functions
static SoNode *	GetNodeFromPrimitive (Primitive::PrimitivePtr primitive, bool boundingBox, Color color)
static void	GetVisualizationFromSoInput (SoInput &soInput, VisualizationNodePtr &visualizationNode, bool bbox=false, bool freeDuplicateTextures=true)
static char	IVToolsHelper_ReplaceSpaceWithUnderscore (char input)

Detailed Description

A Coin3D based implementation of a VisualizationFactory.

Member Typedef Documentation

TextureCacheMap

typedef std::map<std::pair<size_t, std::string>, void*> VirtualRobot::CoinVisualizationFactory::TextureCacheMap

Constructor & Destructor Documentation

CoinVisualizationFactory()

VirtualRobot::CoinVisualizationFactory::CoinVisualizationFactory ( )

default

~CoinVisualizationFactory()

VirtualRobot::CoinVisualizationFactory::~CoinVisualizationFactory ( )

overridedefault

Member Function Documentation

applyDisplacement()

void VirtualRobot::CoinVisualizationFactory::applyDisplacement ( VisualizationNodePtr  o, Eigen::Matrix4f &  m  )

overridevirtual

Move local visualization by homogeneous matrix m. MM is used.

Reimplemented from VirtualRobot::VisualizationFactory.

cleanup()

void VirtualRobot::CoinVisualizationFactory::cleanup ( )

overridevirtual

Here, a manual cleanup can be called, no Coin3D access possible after this. Usually no need to call cleanup explicitly, since cleanup is performed automatically at application exit.

Reimplemented from VirtualRobot::VisualizationFactory.

Colorize()

SoSeparator * VirtualRobot::CoinVisualizationFactory::Colorize ( SoNode *  model, VisualizationFactory::Color  c  )

static

Creates a colored model, by creating a new SoSeparator and adding a basecolor with overide flags followed by the model.

convertSoFileChildren()

SoGroup * VirtualRobot::CoinVisualizationFactory::convertSoFileChildren ( SoGroup *  orig )

static

When SoFiles are used, Coin3D just stores references to files instead of the real contents. This may cause problems when saving an inventor file. With this method, a group node can be converted in order to ensure that all potential files are loaded and added to the group.

copyNode()

SoNode * VirtualRobot::CoinVisualizationFactory::copyNode ( SoNode *  n )

static

Create2DHeightMap()

SoSeparator * VirtualRobot::CoinVisualizationFactory::Create2DHeightMap ( const Eigen::MatrixXf &  d, float  extendCellX, float  extendCellY, float  heightZ, const VirtualRobot::ColorMap  cm = VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool  drawZeroCells = false, bool  drawLines = true  )

static

Create2DMap()

SoSeparator * VirtualRobot::CoinVisualizationFactory::Create2DMap ( const Eigen::MatrixXf &  d, float  extendCellX, float  extendCellY, const VirtualRobot::ColorMap  cm = VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool  drawZeroCells = false, bool  drawLines = true  )

static

createArrow()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createArrow ( const Eigen::Vector3f &  n, float  length = 50.0f, float  width = 2.0f, const Color &  color = Color::Gray()  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

CreateArrow() [1/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateArrow ( const Eigen::Vector3f &  pt, const Eigen::Vector3f &  n, float  length = 50.0f, float  width = 2.0f, const Color &  color = Color::Gray()  )

static

CreateArrow() [2/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateArrow ( const Eigen::Vector3f &  n, float  length = 50.0f, float  width = 2.0f, const Color &  color = Color::Gray()  )

static

CreateBBoxVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateBBoxVisualization ( const BoundingBox &  bbox, bool  wireFrame = false  )

static

CreateBillboardText()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateBillboardText ( const std::string &  s, float  offsetX = 20.0f, float  offsetY = 20.0f, float  offsetZ = 0.0f  )

static

Billboard Text visu. Offsets in mm.

createBoundingBox()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createBoundingBox ( const BoundingBox &  bbox, bool  wireFrame = false  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

CreateBoundingBox()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateBoundingBox ( SoNode *  ivModel, bool  wireFrame = false  )

static

createBox()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createBox ( float  , float  , float  , float  = 0.5f, float  = 0.5f, float  = 0.5f  )

overridevirtual

A box, dimensions are given in mm.

Reimplemented from VirtualRobot::VisualizationFactory.

createCircle()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createCircle ( float  radius, float  circleCompletion, float  width, float  colorR = 1.0f, float  colorG = 0.5f, float  colorB = 0.5f, size_t  numberOfCircleParts = 30  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

createCircleArrow()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createCircleArrow ( float  radius, float  tubeRadius, float  completion = 1, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f, float  transparency = 0.0f, int  sides = 8, int  rings = 30  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

createCoinLine()

SoNode * VirtualRobot::CoinVisualizationFactory::createCoinLine ( const Eigen::Matrix4f &  from, const Eigen::Matrix4f &  to, float  width, float  colorR, float  colorG, float  colorB  )

static

createCoinPartCircle()

SoNode * VirtualRobot::CoinVisualizationFactory::createCoinPartCircle ( float  radius, float  circleCompletion, float  width, float  colorR, float  colorG, float  colorB, size_t  numberOfCircleParts, float  offset = 0  )

static

CreateConvexHull2DVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateConvexHull2DVisualization ( const MathTools::ConvexHull2DPtr  ch, MathTools::Plane &  p, VisualizationFactory::Color  colorInner = VisualizationFactory::Color::Blue(), VisualizationFactory::Color  colorLine = VisualizationFactory::Color::Black(), float  lineSize = 5.0f, const Eigen::Vector3f &  offset = Eigen::Vector3f::Zero()  )

static

createCoordSystem()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createCoordSystem ( float  scaling = 1.0f, std::string *  text = NULL, float  axisLength = 100.0f, float  axisSize = 3.0f, int  nrOfBlocks = 10  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

CreateCoordSystemVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateCoordSystemVisualization ( float  scaling = 1.0f, std::string *  text = NULL, float  axisLength = 100.0f, float  axisSize = 3.0f, int  nrOfBlocks = 10  )

static

createCylinder()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createCylinder ( float  radius, float  height, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

CreateCylindroid()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateCylindroid ( float  axisLengthX, float  axisLengthY, float  height, SoMaterial *  matBody = nullptr  )

static

createEllipse()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createEllipse ( float  x, float  y, float  z, bool  showAxes = true, float  axesHeight = 4.0f, float  axesWidth = 8.0f  )

overridevirtual

Creates an coordinate axis aligned ellipse

Parameters

x	The extend in x direction must be >= 1e-6
y	The extend in y direction must be >= 1e-6
z	The extend in z direction must be >= 1e-6
showAxes	If true, the axes are visualized
axesHeight	The height of the axes (measured from the body surface)
axesWidth	The width of the axes.

Returns

A VisualizationNode containing the visualization.

Reimplemented from VirtualRobot::VisualizationFactory.

CreateEllipse()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateEllipse ( float  x, float  y, float  z, SoMaterial *  matBody = NULL, bool  showAxes = true, float  axesHeight = 4.0f, float  axesWidth = 8.0f, SoMaterial *  matAxisX = NULL, SoMaterial *  matAxisY = NULL, SoMaterial *  matAxisZ = NULL  )

static

Creates an coordinate axis aligned ellipse

Parameters

x	The extend in x direction must be >= 1e-6
y	The extend in y direction must be >= 1e-6
z	The extend in z direction must be >= 1e-6
matBody	If not given a standard material is used for the ellipse body
showAxes	If true, the axes are visualized
axesHeight	The height of the axes (measured from the body surface)
axesWidth	The width of the axes.
matAxisX	If not given a standard material is used for axis X
matAxisY	If not given a standard material is used for axis Y
matAxisZ	If not given a standard material is used for axis Z

Returns

A separator containing the visualization.

CreateEndEffectorVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateEndEffectorVisualization ( EndEffectorPtr  eef, SceneObject::VisualizationType  visu = SceneObject::Full  )

static

Create a visualization of the end effector. The visualization is moved, so that the origin is identical with the coordinate system of the TCP.

CreateGraspSetVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateGraspSetVisualization ( GraspSetPtr  graspSet, EndEffectorPtr  eef, const Eigen::Matrix4f &  pose = Eigen::Matrix4f::Identity(), SceneObject::VisualizationType  visu = SceneObject::Full  )

static

Create a visualization of a set of grasps.

Parameters

graspSet	The grasps to visualize
eef	The visualization of this eef is used to visualize the grasps
pose	The grasp set is visualized relatively to this pose (e.g. use the object position here)
visu	The visualization type of the EEFs.

CreateGraspVisualization() [1/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateGraspVisualization ( GraspPtr  grasp, SoSeparator *  eefVisu, const Eigen::Matrix4f &  pose = Eigen::Matrix4f::Identity()  )

static

CreateGraspVisualization() [2/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateGraspVisualization ( GraspPtr  grasp, EndEffectorPtr  eef, const Eigen::Matrix4f &  pose = Eigen::Matrix4f::Identity(), SceneObject::VisualizationType  visu = SceneObject::Full  )

static

CreateGrid()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateGrid ( float  width, float  depth, float  widthMosaic, float  depthMosaic, bool  InvertNormal, const char *  pFileName, float  Transparency  )

static

createInstance()

std::shared_ptr< VisualizationFactory > VirtualRobot::CoinVisualizationFactory::createInstance ( void *  )

static

Returns

new instance of CoinVisualizationFactory and call SoDB::init() if it has not already been called.

createLine() [1/2]

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createLine ( const Eigen::Vector3f &  from, const Eigen::Vector3f &  to, float  width = 1.0f, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

createLine() [2/2]

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createLine ( const Eigen::Matrix4f &  from, const Eigen::Matrix4f &  to, float  width = 1.0f, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

createOffscreenRenderer()

SoOffscreenRenderer * VirtualRobot::CoinVisualizationFactory::createOffscreenRenderer ( unsigned int  width, unsigned int  height  )

static

Create an offscreen renderer object with the given width and height.

See also

renderOffscreen

CreateOOBBVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateOOBBVisualization ( const MathTools::OOBB &  oobb, Color  colorLine = Color::Gray(), float  lineSize = 4.0f  )

static

createPlane()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createPlane ( const Eigen::Vector3f &  position, const Eigen::Vector3f &  normal, float  extend, float  transparency, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

CreatePlaneVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePlaneVisualization ( const Eigen::Vector3f &  position, const Eigen::Vector3f &  normal, float  extend, float  transparency, bool  grid = true, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f, std::string  textureFile = std::string()  )

static

CreatePointsVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePointsVisualization ( const std::vector< MathTools::ContactPoint > &  points, bool  showNormals = false  )

static

CreatePointVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePointVisualization ( const MathTools::ContactPoint &  point, bool  showNormals = false  )

static

CreatePolygonVisualization() [1/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePolygonVisualization ( const std::vector< Eigen::Vector3f > &  points, VisualizationFactory::Color  colorInner = VisualizationFactory::Color::Blue(), VisualizationFactory::Color  colorLine = VisualizationFactory::Color::Black(), float  lineSize = 4.0f  )

static

CreatePolygonVisualization() [2/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreatePolygonVisualization ( const std::vector< Eigen::Vector3f > &  points, VisualizationFactory::PhongMaterial  mat, VisualizationFactory::Color  colorLine = VisualizationFactory::Color::Black(), float  lineSize = 4.0f  )

static

CreateSegmentVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateSegmentVisualization ( const MathTools::Segment &  s, Color  colorLine = Color::Gray(), float  lineSize = 4.0f  )

static

createSphere()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createSphere ( float  radius, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

CreateSphere() [1/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateSphere ( float  radius, float  colorR, float  colorG, float  colorB  )

static

CreateSphere() [2/2]

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateSphere ( const Eigen::Vector3f &  p, float  radius, float  colorR, float  colorG, float  colorB  )

static

createText()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createText ( const std::string &  text, bool  billboard = false, float  scaling = 1.0f, Color  c = Color::Black(), float  offsetX = 20.0f, float  offsetY = 20.0f, float  offsetZ = 0.0f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

CreateText()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateText ( const std::string &  s, float  offsetX = 20.0f, float  offsetY = 20.0f, float  offsetZ = 0.0f  )

static

Text visu. Offsets in mm.

createTorus()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createTorus ( float  radius, float  tubeRadius, float  completion = 1, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f, float  transparency = 0.0f, int  sides = 8, int  rings = 30  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

createTrajectory()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createTrajectory ( TrajectoryPtr  t, Color  colorNode = Color::Blue(), Color  colorLine = Color::Gray(), float  nodeSize = 15.0f, float  lineSize = 4.0f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

createTriMeshModelVisualization() [1/2]

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createTriMeshModelVisualization ( const TriMeshModelPtr &  model, const Eigen::Matrix4f &  pose = Eigen::Matrix4f::Identity(), float  scaleX = 1.0f, float  scaleY = 1.0f, float  scaleZ = 1.0f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

createTriMeshModelVisualization() [2/2]

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createTriMeshModelVisualization ( const TriMeshModelPtr &  model, bool  showNormals, const Eigen::Matrix4f &  pose, bool  showLines = true  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

createUnitedVisualization()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createUnitedVisualization ( const std::vector< VisualizationNodePtr > &  visualizations ) const

overridevirtual

Create a united visualization. Internally all visualizations are copied and added to one SoSeparator. All visualizations have to be of type CoinVisualizationNode.

Reimplemented from VirtualRobot::VisualizationFactory.

createVertexVisualization()

VirtualRobot::VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createVertexVisualization ( const Eigen::Vector3f &  position, float  radius, float  transparency, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

CreateVertexVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateVertexVisualization ( const Eigen::Vector3f &  position, float  radius, float  transparency, float  colorR = 0.5f, float  colorG = 0.5f, float  colorB = 0.5f  )

static

CreateVerticesVisualization()

SoSeparator * VirtualRobot::CoinVisualizationFactory::CreateVerticesVisualization ( const std::vector< Eigen::Vector3f > &  positions, float  radius, VisualizationFactory::Color  color = VisualizationFactory::Color::Gray()  )

static

createVisualization()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::createVisualization ( )

overridevirtual

Create an empty VisualizationNode.

Reimplemented from VirtualRobot::VisualizationFactory.

getCoinVisualization() [1/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( RobotPtr  robot, SceneObject::VisualizationType  visuType, bool  selectable = true  )

static

Convenient method to retrieve a coin visualization for a robot

getCoinVisualization() [2/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( SceneObjectPtr  object, SceneObject::VisualizationType  visuType  )

static

Convenient method to retrieve a coin visualization for a SceneObject/Obstacle/ManipulationObject

getCoinVisualization() [3/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( VirtualRobot::EndEffector::ContactInfoVector &  contacts, float  frictionConeHeight = 30.0f, float  frictionConeRadius = 15.0f, bool  scaleAccordingToApproachDir = true  )

static

Convenient method to retrieve a coin visualization for a set of contacts.

Parameters

contacts	The contacts to be visualized
frictionConeHeight	The height of the friction cone [mm].
frictionConeRadius	The radius of the cone [mm].
scaleAccordingToApproachDir	If true, the parallel component of the contact normal is computed according to the approahcDirection of the contact.

getCoinVisualization() [4/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( EndEffector::ContactInfo &  contact, float  frictionConeHeight = 30.0f, float  frictionConeRadius = 15.0f, bool  scaleAccordingToApproachDir = true  )

static

Convenient method to retrieve a coin visualization for a contact.

Parameters

contact	The contact to be visualized
frictionConeHeight	The height of the friction cone [mm].
frictionConeRadius	The radius of the cone [mm].
scaleAccordingToApproachDir	If true, the parallel component of the contact normal is computed according to the approahcDirection of the contact.

getCoinVisualization() [5/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( VisualizationNodePtr  visu )

static

getCoinVisualization() [6/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( TriMeshModelPtr  model )

static

getCoinVisualization() [7/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( TriMeshModelPtr  model, bool  shownormals, VisualizationFactory::Color  color = VisualizationFactory::Color::Gray(), bool  showLines = true  )

static

getCoinVisualization() [8/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( TrajectoryPtr  t, Color  colorNode = Color::Blue(), Color  colorLine = Color::Gray(), float  nodeSize = 15.0f, float  lineSize = 4.0f  )

static

getCoinVisualization() [9/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( WorkspaceRepresentationPtr  reachSpace, const VirtualRobot::ColorMap  cm, bool  transformToGlobalPose = true, float  maxZGlobal = 1e10, float  minAngle = -M_PI, float  maxAngle = M_PI  )

static

Create a visualization of the reachability data.

getCoinVisualization() [10/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( WorkspaceRepresentationPtr  reachSpace, VirtualRobot::ColorMap  cm, const Eigen::Vector3f &  axis, bool  transformToGlobalPose = true, unsigned char  minValue = 0, float  arrowSize = 0, int  nrRotations = 1  )

static

Creates a visualization of the reachability data. For each 3D point, the orientation with maximum entry is determined and visualized as an arrow. The direction of this arrow is aligned to the param axis.

getCoinVisualization() [11/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( WorkspaceRepresentationPtr  reachSpace, const Eigen::Vector3f &  fixedEEFOrientationGlobalRPY, VirtualRobot::ColorMap  cm = VirtualRobot::ColorMap(VirtualRobot::ColorMap::eHot), bool  transformToGlobalPose = true, const Eigen::Vector3f &  axis = Eigen::Vector3f(0, 0, 1.0f), unsigned char  minValue = 0, float  arrowSize = 0  )

static

Helper method: Create reach space visualization of a fixed orientation.

getCoinVisualization() [12/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( WorkspaceRepresentationPtr  reachSpace, int  a, int  b, int  c, int  nrBestEntries, SoSeparator *  arrow, const VirtualRobot::ColorMap &  cm, bool  transformToGlobalPose, unsigned char  minValue  )

static

helper method: create nrBestEntries arrows in direction of maximum orientation for voxelPosition (a,b,c)

getCoinVisualization() [13/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( TSRConstraintPtr  constraint, const Color &  color  )

static

getCoinVisualization() [14/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( BalanceConstraintPtr  constraint, const Color &  color  )

static

getCoinVisualization() [15/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( PoseConstraintPtr  constraint, const Color &  color  )

static

getCoinVisualization() [16/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( PositionConstraintPtr  constraint, const Color &  color  )

static

getCoinVisualization() [17/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( SupportPolygonPtr  supportPolygon, const Color &  color  )

static

getCoinVisualization() [18/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( WorkspaceGridPtr  reachGrid, VirtualRobot::ColorMap  cm, bool  transformToGlobalPose = true  )

static

Creates a visualization of the reachability grid.

getCoinVisualization() [19/19]

SoNode * VirtualRobot::CoinVisualizationFactory::getCoinVisualization ( VirtualRobot::WorkspaceRepresentation::WorkspaceCut2DPtr  cutXY, VirtualRobot::ColorMap  cm, const Eigen::Vector3f &  normal = Eigen::Vector3f::UnitY(), float  maxEntry = 0.0f, float  minAngle = -M_PI, float  maxAngle = M_PI  )

static

Create quads according to cutXY plane. Normal can be UnitX, UnitY or UnitZ.

Parameters

maxEntry

If 0 the maximal entry of the cut plane is used as refernce.

getColorNode()

SoNode * VirtualRobot::CoinVisualizationFactory::getColorNode ( Color  color )

static

Creates a material node.

getMatrixTransform()

SoMatrixTransform * VirtualRobot::CoinVisualizationFactory::getMatrixTransform ( const Eigen::Matrix4f &  m )

static

Create a SoMatrixTransform from the given pose

Parameters

m	The pose with translation given in meter.

getMatrixTransformScaleMM2M()

SoMatrixTransform * VirtualRobot::CoinVisualizationFactory::getMatrixTransformScaleMM2M ( const Eigen::Matrix4f &  m )

static

Create a SoMatrixTransform from the given pose Converts the pose from MM to M (scales by 0.001)

Parameters

m	The pose with translation given in millimeter.

getName()

std::string VirtualRobot::CoinVisualizationFactory::getName ( )

static

Returns

"inventor"

GetNodeFromPrimitive()

SoNode * VirtualRobot::CoinVisualizationFactory::GetNodeFromPrimitive ( Primitive::PrimitivePtr  primitive, bool  boundingBox, Color  color  )

staticprotected

getSbMatrix()

SbMatrix VirtualRobot::CoinVisualizationFactory::getSbMatrix ( const Eigen::Matrix4f &  m )

static

getSbMatrixVec()

SbMatrix VirtualRobot::CoinVisualizationFactory::getSbMatrixVec ( const Eigen::Vector3f &  m )

static

getVisualization() [1/2]

VisualizationPtr VirtualRobot::CoinVisualizationFactory::getVisualization ( const std::vector< VisualizationNodePtr > &  visus )

virtual

getVisualization() [2/2]

VisualizationPtr VirtualRobot::CoinVisualizationFactory::getVisualization ( VisualizationNodePtr  visu )

virtual

getVisualizationFromCoin3DFile()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromCoin3DFile ( const std::string &  filename, bool  boundingBox = false  )

virtual

getVisualizationFromFile() [1/2]

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromFile ( const std::string &  filename, bool  boundingBox = false, float  scaleX = 1.0f, float  scaleY = 1.0f, float  scaleZ = 1.0f  )

overridevirtual

This method creates a VirtualRobot::CoinVisualizationNode from a given filename. An instance of VirtualRobot::VisualizationNode is returned in case of an occured error.

Parameters

filename	file to load the Coin3D visualization from.
boundingBox	Use bounding box instead of full model.

Returns

instance of VirtualRobot::CoinVisualizationNode upon success and VirtualRobot::VisualizationNode on error.

Reimplemented from VirtualRobot::VisualizationFactory.

getVisualizationFromFile() [2/2]

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromFile ( const std::ifstream &  ifs, bool  boundingBox = false, float  scaleX = 1.0f, float  scaleY = 1.0f, float  scaleZ = 1.0f  )

overridevirtual

Reimplemented from VirtualRobot::VisualizationFactory.

getVisualizationFromFileWithAssimp()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromFileWithAssimp ( const std::string &  filename, bool  boundingBox = false, float  scaleX = 1.0f, float  scaleY = 1.0f, float  scaleZ = 1.0f  )

virtual

getVisualizationFromPrimitives()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromPrimitives ( const std::vector< Primitive::PrimitivePtr > &  primitives, bool  boundingBox = false, Color  color = Color::Gray()  )

overridevirtual

This method creates a VirtualRobot::CoinVisualizationNode from a given vector of primitives. An instance of VirtualRobot::VisualizationNode is returned in case of an occured error.

Parameters

primitives	vector of primitives to create the visualization from.
boundingBox	Use bounding box instead of full model.

Returns

instance of VirtualRobot::CoinVisualizationNode upon success and VirtualRobot::VisualizationNode on error.

Reimplemented from VirtualRobot::VisualizationFactory.

GetVisualizationFromSoInput()

void VirtualRobot::CoinVisualizationFactory::GetVisualizationFromSoInput ( SoInput &  soInput, VisualizationNodePtr &  visualizationNode, bool  boundingBox = false, bool  freeDuplicateTextures = true  )

staticprotected

This method reads the data from the given soInput and creates a new CoinVisualizationNode with the read Coin model if no error occurred during reading the model. The newly created CoinVisualizationNode is then stored in visualisationNode.

Parameters

soInput	SoInput instance from which the model is read.
visualizationNode	VisualizationNodePtr instance in which the created CoinVisualizationNode is stored.
boundingBox	Use bounding box instead of full model.

getVisualizationFromString()

VisualizationNodePtr VirtualRobot::CoinVisualizationFactory::getVisualizationFromString ( const std::string &  modelString, bool  boundingBox = false  )

virtual

This method creates a VirtualRobot::CoinVisualizationNode from a given modelString. An instance of VirtualRobot::VisualizationNode is returned in case of an occured error.

Parameters

modelString	string to load the Coin3D visualization from.
boundingBox	Use bounding box instead of full model.

Returns

instance of VirtualRobot::CoinVisualizationNode upon succes and VirtualRobot::VisualizationNode on error.

init()

void VirtualRobot::CoinVisualizationFactory::init ( int &  argc, char *  argv[], const std::string &  appName  )

overridevirtual

Initialises SoDB and SoQt. Sets the COIN_SEPARATE_DIFFUSE_TRANSPARENCY_OVERRIDE environment variable to enable a Coin3D transparency extension.

Reimplemented from VirtualRobot::VisualizationFactory.

IVToolsHelper_ReplaceSpaceWithUnderscore()

static char VirtualRobot::CoinVisualizationFactory::IVToolsHelper_ReplaceSpaceWithUnderscore ( char  input )

inlinestaticprotected

RemoveDuplicateTextures()

void VirtualRobot::CoinVisualizationFactory::RemoveDuplicateTextures ( SoNode *  node, const std::string &  currentPath  )

static

renderOffscreen() [1/2]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreen ( SoOffscreenRenderer *  renderer, RobotNodePtr  camNode, SoNode *  scene, unsigned char **  buffer, float  zNear = 10.f, float  zFar = 100000.f, float  fov = M_PI / 4  )

static

The cam node has to be oriented as follows: The camera is pointing along the positive z axis and the positive x axis is pointing upwards.

Parameters

renderer	The renderer should have been created with the createOffscreenRenderer method
camNode	The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
scene	The scene that should be rendered.
buffer	The result is stored here. The origin of the 2D image is at the left bottom! The resulting buffer has the size width*height*3, with the extends as defined in the createOffscreenRenderer method.
zNear	The near plane's distance.
zFar	The far plane's distance
fov	The fov in rad. (vertical)

Returns

true on success

See also

createOffscreenRenderer

renderOffscreen() [2/2]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreen ( SoOffscreenRenderer *  renderer, SoPerspectiveCamera *  cam, SoNode *  scene, unsigned char **  buffer  )

static

Use a custom camera for rendering

Parameters

renderer	The renderer should have been created with the createOffscreenRenderer method
cam	The camera.
scene	The scene that should be rendered.
buffer	The result is stored here. The origin of the 2D image is at the left bottom! The resulting buffer has the size width*height*3, with the extends as defined in the createOffscreenRenderer method.

Returns

true on success

See also

createOffscreenRenderer

renderOffscreenRgbDepthPointcloud() [1/4]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud ( RobotNodePtr  camNode, SoNode *  scene, short  width, short  height, bool  renderRgbImage, std::vector< unsigned char > &  rgbImage, bool  renderDepthImgae, std::vector< float > &  depthImage, bool  renderPointcloud, std::vector< Eigen::Vector3f > &  pointCloud, float  zNear = 10.f, float  zFar = 100000.f, float  vertFov = M_PI / 4, float  nanValue = NAN  )

static

Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud.

Parameters

camNode	The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
scene	The scene that should be rendered.
width	The used image width. (>0)
height	The used image height. (>0)
renderRgbImage	Whether to output the rgb image.
rgbImage	The rgb image's output parameter.
renderDepthImgae	Whether to output the depth image.
depthImage	The depth image's output parameter.
renderPointcloud	Whether to output the point cloud.
pointCloud	The pointcloud's output parameter.
zNear	The near plane's distance.
zFar	The far plane's distance
vertFov	The fov in rad. (vertical)
nanValue	All values above the zFar value will be mapped on this value (usually nan or 0)

Returns

true on success

renderOffscreenRgbDepthPointcloud() [2/4]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud ( SoOffscreenRenderer *  renderer, RobotNodePtr  camNode, SoNode *  scene, short  width, short  height, bool  renderRgbImage, std::vector< unsigned char > &  rgbImage, bool  renderDepthImage, std::vector< float > &  depthImage, bool  renderPointcloud, std::vector< Eigen::Vector3f > &  pointCloud, float  zNear = 10.f, float  zFar = 100000.f, float  vertFov = M_PI / 4, float  nanValue = NAN  )

static

Renders the given scene from the given cam position and outputs (optionally) the rgb image, depth image and point cloud. This version is much faster if always the same SoOffscreenRenderer is passed in.

Parameters

camNode	The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
scene	The scene that should be rendered.
width	The used image width. (>0)
height	The used image height. (>0)
renderRgbImage	Whether to output the rgb image.
rgbImage	The rgb image's output parameter.
renderDepthImgae	Whether to output the depth image.
depthImage	The depth image's output parameter.
renderPointcloud	Whether to output the point cloud.
pointCloud	The pointcloud's output parameter.
zNear	The near plane's distance.
zFar	The far plane's distance
vertFov	The fov in rad. (vertical)
nanValue	All values above the zFar value will be mapped on this value (usually nan or 0)

Returns

true on success

renderOffscreenRgbDepthPointcloud() [3/4]

bool VirtualRobot::CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud ( SoOffscreenRenderer *  renderer, const Eigen::Matrix4f  camPose, SoNode *  scene, short  width, short  height, bool  renderRgbImage, std::vector< unsigned char > &  rgbImage, bool  renderDepthImage, std::vector< float > &  depthImage, bool  renderPointcloud, std::vector< Eigen::Vector3f > &  pointCloud, float  zNear = 10.f, float  zFar = 100000.f, float  vertFov = M_PI / 4, float  nanValue = NAN  )

static

TODO find way to only render rgb once

renderOffscreenRgbDepthPointcloud() [4/4]

static bool VirtualRobot::CoinVisualizationFactory::renderOffscreenRgbDepthPointcloud ( RobotNodePtr  camNode, SoNode *  scene, short  width, short  height, std::vector< unsigned char > &  rgbImage, std::vector< float > &  depthImage, std::vector< Eigen::Vector3f > &  pointCloud, float  zNear = 10.f, float  zFar = 100000.f, float  vertFov = M_PI / 4, float  nanValue = NAN  )

inlinestatic

Renders the given scene from the given cam position and outputs the rgb image, depth image and point cloud.

Parameters

camNode	The node of the robot that defines the position of the camera. Any node of the robot can host a camera.
scene	The scene that should be rendered.
width	The used image width. (>0)
height	The used image height. (>0)
renderRgbImage	Whether to output the rgb image.
rgbImage	The rgb image's output parameter.
renderDepthImgae	Whether to output the depth image.
depthImage	The depth image's output parameter.
renderPointcloud	Whether to output the point cloud.
pointCloud	The pointcloud's output parameter.
zNear	The near plane's distance.
zFar	The far plane's distance
vertFov	The fov in rad. (vertical)
nanValue	All values above the zFar value will be mapped on this value (usually nan or 0)

Returns

true on success