Object Visualization

Visualization for Object Matching. Static objects are coloured in white, removed ones in red, novel ones in green and displaced ones in pink (an arrow points from the old location to the new one).

1. build and run docker container

https://github.com/Sasha-ObjectMatching-Pipeline/object_visualization.git

cd object_visualization_service/docker
docker build -t "vis" . 
run ./sh

2. Start mongodb

roslaunch --wait mongodb_store mongodb_store.launch db_path:=/path/to/mongodb

3. Start Visualization program

rosrun object_visualization_service visualization.py

4. Controll Visualization program via services

Publish Pointcloud: rosservice call /object_visualization_service/visualize

Clear Pointcloud: rosservice call /object_visualization_service/clear

Stop Publish Pointcloud: rosservice call /object_visualization_service/stop