grasp_visualizer

Simple tool to visualize a grasp pose within a pointcloud

Build

Requires PCL >=1.7 from here

To Build:

git clone https://github.com/JosephBowkett/grasp_visualizer.git
cd grasp_visualizer
mkdir build && cd build
cmake ..
make

Lazy Install (if desired)

echo "export PATH=\$PATH:$PWD" >> ~/.bashrc

Usage

To display just a pose in the pointcloud:

grasp_visualizer pcloud.pcd pose.txt

To display a gripper in the pointcloud:

grasp_visualizer pcloud.pcd pose.txt -g gripper.ply

To additionally display a box shaped region of interest:

grasp_visualizer pcloud.pcd pose.txt -r roi.txt

Where pose.txt has the format:

x y z qw qx qy qz

Where roi.txt has the format:

x y z qw qx qy qz xdim ydim zdim