"Invisible" Models

[George Brindeiro]

Hello everyone,

I am performing simple landmark based EKF SLAM, and would like to draw the current estimates for landmark and robot positions. The simplest way I could think of doing this is by creating various models in my worldfile... but I need them to be invisible to my robot's sensors.

"laser_return 0" does the trick for my sick laser, but "blobfinder_return 0" is of no help, as the blobfinder keeps seeing the models. It doesn't matter if I place the models way up in the sky, maybe taking them out of the blobfinder's field of view,either.

Any ideas how I could do this?

George

[Richard Vaughan-4]

The recommended way to do visualizations is to write a visualizer and
attach it to your model. See model_laser.cc for an example. You can
execute arbitrary OpenGL code.

Richard/

On Sat, Nov 7, 2009 at 1:21 PM, George Brindeiro <guitar.jarj@...> wrote:

>
> Hello everyone,
>
> I am performing simple landmark based EKF SLAM, and would like to draw the
> current estimates for landmark and robot positions. The simplest way I could
> think of doing this is by creating various models in my worldfile... but I
> need them to be invisible to my robot's sensors.
>
> "laser_return 0" does the trick for my sick laser, but "blobfinder_return 0"
> is of no help, as the blobfinder keeps seeing the models. It doesn't matter
> if I place the models way up in the sky, maybe taking them out of the
> blobfinder's field of view,either.
>
> Any ideas how I could do this?
>
> George
> --
> View this message in context: http://old.nabble.com/%22Invisible%22-Models-tp26248684p26248684.html
> Sent from the playerstage-users mailing list archive at Nabble.com.
>
>
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--
Richard Vaughan
Autonomy Lab / Computing Science / Simon Fraser University

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[gbiggs]

If you are working through Player, you can also use the graphics2d
interface to draw stuff in the Stage window.

Geoff

Richard Vaughan wrote:

> The recommended way to do visualizations is to write a visualizer and
> attach it to your model. See model_laser.cc for an example. You can
> execute arbitrary OpenGL code.
>
> Richard/
>
> On Sat, Nov 7, 2009 at 1:21 PM, George Brindeiro <guitar.jarj@...> wrote:
>> Hello everyone,
>>
>> I am performing simple landmark based EKF SLAM, and would like to draw the
>> current estimates for landmark and robot positions. The simplest way I could
>> think of doing this is by creating various models in my worldfile... but I
>> need them to be invisible to my robot's sensors.
>>
>> "laser_return 0" does the trick for my sick laser, but "blobfinder_return 0"
>> is of no help, as the blobfinder keeps seeing the models. It doesn't matter
>> if I place the models way up in the sky, maybe taking them out of the
>> blobfinder's field of view,either.
>>
>> Any ideas how I could do this?

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[George Brindeiro]

Richard Vaughan-4 wrote:

The recommended way to do visualizations is to write a visualizer and
attach it to your model. See model_laser.cc for an example. You can
execute arbitrary OpenGL code.

I have looked into model_laser.cc, but it seemed to me that I would have to write a new model and compile it in order to get that to work. In that sense, I still have some doubts I could not address:

-How do I, in my code, signal where the geometric figure should be drawn (which window, and what coordinates)? That is defined in my controller, so I would only know during execution.

-How do I place that info in my world file, so that it is recognized as a proper model?

-What do I have to include? I didn't see any headers for OpenGL, but I assume they are "hidden" there somewhere.

I'm sorry if my doubts seem a little dumb, its just I have never created a model/interface in Stage before, just used them as I needed.

gbiggs wrote:

If you are working through Player, you can also use the graphics2d
interface to draw stuff in the Stage window.

This idea seems a little bit easier, I will look into it as well as I am working through Player. Does that make it possible for me to draw things that are not sensed by the robot, though? The whole problem was that in drawing the estimates the robot would be able to get them as readings in the blobfinder even if the variable blobfinder_return was set as zero.... laser and obstacle returns are fine.

Thank you for the help,
George

[Toby Collett-3]

Graphics2d and graphics3d interface renderings are visual only and are not sensed at all.

Toby

2009/11/8 George Brindeiro <guitar.jarj@...>

Richard Vaughan-4 wrote:
>
> The recommended way to do visualizations is to write a visualizer and
> attach it to your model. See model_laser.cc for an example. You can
> execute arbitrary OpenGL code.
>

I have looked into model_laser.cc, but it seemed to me that I would have to
write a new model and compile it in order to get that to work. In that
sense, I still have some doubts I could not address:

-How do I, in my code, signal where the geometric figure should be drawn
(which window, and what coordinates)? That is defined in my controller, so I
would only know during execution.

-How do I place that info in my world file, so that it is recognized as a
proper model?

-What do I have to include? I didn't see any headers for OpenGL, but I
assume they are "hidden" there somewhere.

I'm sorry if my doubts seem a little dumb, its just I have never created a
model/interface in Stage before, just used them as I needed.

gbiggs wrote:
>
> If you are working through Player, you can also use the graphics2d
> interface to draw stuff in the Stage window.
>

This idea seems a little bit easier, I will look into it as well as I am
working through Player. Does that make it possible for me to draw things
that are not sensed by the robot, though? The whole problem was that in
drawing the estimates the robot would be able to get them as readings in the
blobfinder even if the variable blobfinder_return was set as zero.... laser
and obstacle returns are fine.

Thank you for the help,
George
--
View this message in context: http://old.nabble.com/%22Invisible%22-Models-tp26248684p26254115.html

Sent from the playerstage-users mailing list archive at Nabble.com.


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