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+1544681131590827520,-119.10514,136.90485,-4.25408,0.36963,0.00230,0.03007,0.92869 +1544681131590827520,-119.19565,136.99002,-4.25506,0.36943,0.00192,0.02922,0.92880 +1544681131590827520,-119.28662,137.07545,-4.25605,0.36938,0.00173,0.02892,0.92883 +1544681131590827520,-119.37701,137.16038,-4.25710,0.36947,0.00183,0.02925,0.92878 +1544681131590827520,-119.46717,137.24534,-4.25821,0.36957,0.00203,0.02977,0.92873 +1544681131590827520,-119.55773,137.33081,-4.25931,0.36958,0.00216,0.03009,0.92871 +1544681131590827520,-119.64792,137.41577,-4.26034,0.36958,0.00214,0.03010,0.92871 +1544681131590827520,-119.73100,137.51511,-4.26868,0.36954,0.00198,0.02981,0.92873 diff --git a/global_fusion/launch/display.rviz b/global_fusion/launch/display.rviz new file mode 100644 index 0000000..17f04cc --- /dev/null +++ b/global_fusion/launch/display.rviz @@ -0,0 +1,207 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Marker1 + - /Marker1/Status1 + - /Path1 + - /Camera1 + Splitter Ratio: 0.5 + Tree Height: 322 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Camera +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + cam0: + Value: true + cam0_gps: + Value: true + cam1: + Value: true + global: + Value: true + gps_global: + Value: true + imu: + Value: true + imu_gps: + Value: true + Marker Alpha: 1 + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + gps_global: + imu_gps: + cam0_gps: + {} + Update Interval: 0 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /ov_msckf/vis_markers + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /global_fusion_node/global_path + Unreliable: false + Value: true + - Class: rviz/Camera + Enabled: true + Image Rendering: background and overlay + Image Topic: /global_fusion_node/sensor_left + Name: Camera + Overlay Alpha: 0.5 + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: true + Visibility: + Grid: true + Marker: true + Path: true + TF: true + Value: true + Zoom Factor: 1 + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: gps_global + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 1631.015869140625 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.0853980779647827 + Target Frame: + Yaw: 5.583582878112793 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1920 + X: 0 + Y: 27 diff --git a/ov_msckf/launch/display.rviz b/ov_msckf/launch/display.rviz index 1fc756d..964c65f 100644 --- a/ov_msckf/launch/display.rviz +++ b/ov_msckf/launch/display.rviz @@ -6,8 +6,9 @@ Panels: Expanded: - /Camera1 - /Camera1/Status1 + - /Marker1 Splitter Ratio: 0.6011396050453186 - Tree Height: 345 + Tree Height: 452 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -26,7 +27,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: "" + SyncSource: SLAM Points Preferences: PromptSaveOnExit: true Toolbars: @@ -52,21 +53,31 @@ Visualization Manager: Plane Cell Count: 80 Reference Frame: Value: true - - Class: rviz_camera_stream/CameraPub + - Background Color: 0; 0; 0 + Camera Info Topic: /ov_msckf/camera0_info + Class: rviz_camera_stream/CameraPub + Display namespace: "" Enabled: true Frame Rate: 10 + Image Encoding: rgb8 Image Topic: /ov_msckf/rendered - Camera Info Topic: /ov_msckf/camera0_info Name: CameraPub1 + Near Clip Distance: 0.009999999776482582 Queue Size: 2 Value: true Visibility: - Axes: true - CameraPub2: true + ACTIVE Features: true + ARUCO Points: true + Camera: true + Current Depths: true Grid: true - Image1: true - Image2: true - TF: true + Image Tracks: true + MSCKF Points: true + Marker: true + Path GT: true + Path VIO: true + SIM Points: true + SLAM Points: true Value: true - Class: rviz/Image Enabled: true @@ -81,7 +92,7 @@ Visualization Manager: Unreliable: false Value: true - Class: rviz/Image - Enabled: true + Enabled: false Image Topic: /ov_msckf/loop_depth_colored Max Value: 1 Median window: 5 @@ -91,7 +102,7 @@ Visualization Manager: Queue Size: 2 Transport Hint: compressed Unreliable: false - Value: true + Value: false - Alpha: 1 Buffer Length: 1 Class: rviz/Path @@ -281,7 +292,6 @@ Visualization Manager: Use rainbow: true Value: true - Class: rviz/Camera - Camera Info Topic: /ov_msckf/camera_info Enabled: true Image Rendering: background and overlay Image Topic: /ov_msckf/trackhist @@ -294,20 +304,29 @@ Visualization Manager: Visibility: ACTIVE Features: true ARUCO Points: true + CameraPub1: true Current Depths: true Grid: true Image Tracks: true MSCKF Points: true + Marker: true Path GT: true Path VIO: true SIM Points: true SLAM Points: true - TF: true Value: true Zoom Factor: 1 - Class: rviz/Marker Enabled: true - Marker Topic: /ov_msckf/vis_markers + Marker Topic: /ov_msckf/vio_vis_markers + Name: Marker + Namespaces: + gps_namespace: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: visualization_marker Name: Marker Namespaces: {} @@ -341,7 +360,7 @@ Visualization Manager: Views: Current: Class: rviz/Orbit - Distance: 12.363367080688477 + Distance: 5925.900390625 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 @@ -373,7 +392,7 @@ Window Geometry: Hide Right Dock: true Image Tracks: collapsed: false - QMainWindow State: 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Selection: collapsed: false Time: diff --git a/ov_msckf/src/render_cubes.cpp b/ov_msckf/src/render_cubes.cpp index cba91b4..f796aa4 100644 --- a/ov_msckf/src/render_cubes.cpp +++ b/ov_msckf/src/render_cubes.cpp @@ -288,16 +288,16 @@ std::vector> cashedCubeVisPoints; ros::Publisher pub_cubes, pub_cubes_gps, pub_aligned_traj, pub_sensor_left_gps; ros::Subscriber sub_imu, subs_T_align, sub_stereo_left; -visualization_msgs::Marker Marker; +visualization_msgs::Marker Marker, Marker_gps; std::ofstream fT_aligned; nav_msgs::Path curr_path; void callback_imu(const sensor_msgs::Imu::ConstPtr &msg){ ROS_INFO_STREAM("received imu"); - pub_cubes_gps.publish(Marker); - Marker.header.frame_id = "global"; - pub_cubes.publish(Marker); - + if (pub_cubes.getNumSubscribers() != 0 || pub_cubes_gps.getNumSubscribers() != 0){ + pub_cubes_gps.publish(Marker_gps); + pub_cubes.publish(Marker); + } } void T_align_callback(const geometry_msgs::TransformStamped &msg){ @@ -434,5 +434,33 @@ int main(int argc, char* argv[]){ Marker.points.push_back(tempPoint); } + Marker_gps.header.frame_id = "global"; + Marker_gps.header.stamp = ros::Time(); + Marker_gps.ns = "gps_namespace"; + Marker_gps.id = 1; + Marker_gps.type = visualization_msgs::Marker::CUBE_LIST; + Marker_gps.action = visualization_msgs::Marker::ADD; + Marker_gps.pose.orientation.x = 0.0; + Marker_gps.pose.orientation.y = 0.0; + Marker_gps.pose.orientation.z = 0.0; + Marker_gps.pose.orientation.w = 1.0; + Marker_gps.scale.x = 6.8f; + Marker_gps.scale.y = 6.8f; + Marker_gps.scale.z = 6.8f; + Marker_gps.color.a = 1.0; // Don't forget to set the alpha! + Marker_gps.color.r = 0.0; + Marker_gps.color.g = 1.0; + Marker_gps.color.b = 0.0; +//only if using a MESH_RESOURCE marker type: + Marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae"; + + for (auto & cubeVisPoint : cubeVisPoints){ + geometry_msgs::Point tempPoint; + tempPoint.x = cubeVisPoint[0]; + tempPoint.y = cubeVisPoint[1]; + tempPoint.z = cubeVisPoint[2]; + Marker_gps.points.push_back(tempPoint); + } + ros::spin(); }