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doc:mesh_reasoning [2013/04/22 09:32] – created admindoc:mesh_reasoning [2014/01/17 09:30] (current) – removed gkazhoya
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-====== Reasoning about geometric object models ====== 
-~~NOTOC~~ 
-This module is currently under development and not publicly available. 
- 
-===== Usage ===== 
- 
-Start knowrob_mesh_reasoning 
-<code> 
- roscd knowrob_mesh_reasoning 
- rosrun rosprolog rosprolog knowrob_mesh_reasoning 
-</code> 
- 
-Analyze a model by its direct path or a KnowRob identifier (you first have to load an OWL file with the object) 
-<code> 
- ?- mesh_annotator_path('package://knowrob_mesh_reasoning/models/cup2.dae',Mr). 
- ?- mesh_annotator(knowrob:'DrinkingBottle', Mr). 
-</code> 
- 
-Retrieve a list of found annotation types: 
-<code> 
- ?- mesh_element_types($Mr, TypeList). 
- TypeList = ['Plane','Cone','Sphere','Container']. 
-</code> 
- 
-Sample call for highlighting all sphere annotations: 
-<code> 
- ?- mesh_annotator_path('package://knowrob_mesh_reasoning/models/cup2.dae',Mr). 
- PeasyCam v105 
- [INFO  14:28:17,955] root - MeshReasoning started. Parsing model ... 
- [DEBUG 14:28:18,748] root - Model parsed. Took: 00:00:00.781 (Vertices: 3196, Lines: 0, Triangles: 6332) 
- [DEBUG 14:28:18,754] root - Calculating curvature ... 
- [DEBUG 14:28:19,271] NeighborAnalyzer - Started 
- [DEBUG 14:28:23,860] NeighborAnalyzer - Ended. Took: 00:00:04.588 
- [DEBUG 14:28:23,860] PrimitiveAnalyzer - Started 
- [DEBUG 14:28:27,788] PrimitiveAnalyzer - Ended. Took: 00:00:03.928 
- [DEBUG 14:28:27,788] ContainerAnalyzer - Started 
- [DEBUG 14:28:27,791] ContainerAnalyzer - Ended. Took: 00:00:00.002 
- Mr = @'J#00000140259203508552'.  
-  
- ?- mesh_find_annotations($Mr,'Sphere',Found). 
- Found = @'J#00000140260210192312'. 
-  
- ?- mesh_annotator_highlight($Mr,$Found). 
- FoundList = [@'J#00000140144111974832', 
-              @'J#00000140144111974824', 
-              @'J#00000140144111974816',  
-              @'J#00000140144111974808']. 
- false. 
-</code> 
- 
-Clear highlight with 
-<code> 
- mesh_annotator_clear_highlight($Mr). 
-</code> 
- 
-Finding handles (default or by specifying minimum and maximum radius of a handle (unit in meters) or min/max radius and min/max length): 
-<code> 
- mesh_find_handle($Mr, Li), listsplit(Li,Lh,Lt), mesh_annotator_highlight($Mr,Lh). 
- mesh_find_handle($Mr, Li, 0.1, 0.8), listsplit(Li,Lh,Lt), mesh_annotator_highlight($Mr,Lh). 
- mesh_find_handle($Mr, Li, 0.1, 0.8, 0.05, 0.20), listsplit(Li,Lh,Lt), mesh_annotator_highlight($Mr,Lh). 
-</code> 
- 
-Finding all supporting planes: 
-<code> 
- mesh_find_supporting_planes($Mr,Planes), mesh_annotator_highlight($Mr,Planes). 
-</code> 
- 
- 
-===== Computables ===== 
- 
-These computables are still work in progress, but they already build up the OWL datastructures of the object and its parts including their properties and relative poses. 
- 
-Start knowrob_mesh_reasoning 
-<code> 
- $ roscd knowrob_mesh_reasoning 
- $ rosrun rosprolog rosprolog knowrob_mesh_reasoning 
-</code> 
- 
-Load example file 
-<code> 
- ?- owl_parse('owl/test_objects.owl', false, false, true). 
-</code> 
- 
-Ask for properPhysicalParts (loads mesh, segments it and creates the parts on the fly) 
-<code> 
- ?- rdf_triple(knowrob:properPhysicalParts, knowrob:cabinet1, Parts). 
-</code> 
- 
-Ask for properties of these parts 
-<code> 
- ?- rdf_triple(knowrob:areaOfObject, $Parts, Area). 
-</code> 
- 
- 
-==== Currently implemented computables ==== 
- 
-  * Planar surfaces 
-    * normalDirection (vector) 
-    * objectLongSide (vector) 
-    * objectShortSide (vector) 
-    * areaOfObject (float) 
-    * areaCoverage (float) 
-    * supporting planes (computable class for SupportingPlane) 
-  * Spheres 
-    * radius (float) 
-    * volumeOfObject (float) 
-    * areaOfObject (float) 
-    * areaCoverage (float) 
-    * concavity (computable class for ConcaveTangibleObject) 
-  * Cones/cylinders 
-    * radius (as average radius, float) 
-    * maxRadius (float) 
-    * minRadius (float) 
-    * volumeOfObject (float) 
-    * lengthOfObject (float) 
-    * longitudinalDirection (vector) 
-    * areaOfObject (float) 
-    * areaCoverage (float) 
-  * Containers 
-    * longitudinalDirection (opening direction, vector) 
-    * volumeOfObject (float) 
-  * Handles (computable class for cylindrical handles, class 'Handle') 
-