added rviz config file to global fusion node
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admin1
@@ -6,8 +6,9 @@ Panels:
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Expanded:
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- /Camera1
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- /Camera1/Status1
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- /Marker1
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Splitter Ratio: 0.6011396050453186
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Tree Height: 345
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Tree Height: 452
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@@ -26,7 +27,7 @@ Panels:
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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SyncSource: SLAM Points
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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@@ -52,21 +53,31 @@ Visualization Manager:
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Plane Cell Count: 80
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz_camera_stream/CameraPub
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- Background Color: 0; 0; 0
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Camera Info Topic: /ov_msckf/camera0_info
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Class: rviz_camera_stream/CameraPub
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Display namespace: ""
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Enabled: true
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Frame Rate: 10
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Image Encoding: rgb8
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Image Topic: /ov_msckf/rendered
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Camera Info Topic: /ov_msckf/camera0_info
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Name: CameraPub1
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Near Clip Distance: 0.009999999776482582
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Queue Size: 2
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Value: true
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Visibility:
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Axes: true
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CameraPub2: true
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ACTIVE Features: true
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ARUCO Points: true
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Camera: true
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Current Depths: true
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Grid: true
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Image1: true
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Image2: true
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TF: true
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Image Tracks: true
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MSCKF Points: true
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Marker: true
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Path GT: true
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Path VIO: true
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SIM Points: true
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SLAM Points: true
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Value: true
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- Class: rviz/Image
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Enabled: true
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@@ -81,7 +92,7 @@ Visualization Manager:
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Unreliable: false
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Value: true
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- Class: rviz/Image
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Enabled: true
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Enabled: false
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Image Topic: /ov_msckf/loop_depth_colored
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Max Value: 1
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Median window: 5
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@@ -91,7 +102,7 @@ Visualization Manager:
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Queue Size: 2
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Transport Hint: compressed
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Unreliable: false
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Value: true
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Value: false
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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@@ -281,7 +292,6 @@ Visualization Manager:
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Use rainbow: true
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Value: true
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- Class: rviz/Camera
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Camera Info Topic: /ov_msckf/camera_info
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Enabled: true
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Image Rendering: background and overlay
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Image Topic: /ov_msckf/trackhist
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@@ -294,20 +304,29 @@ Visualization Manager:
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Visibility:
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ACTIVE Features: true
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ARUCO Points: true
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CameraPub1: true
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Current Depths: true
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Grid: true
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Image Tracks: true
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MSCKF Points: true
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Marker: true
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Path GT: true
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Path VIO: true
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SIM Points: true
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SLAM Points: true
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TF: true
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Value: true
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Zoom Factor: 1
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /ov_msckf/vis_markers
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Marker Topic: /ov_msckf/vio_vis_markers
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Name: Marker
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Namespaces:
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gps_namespace: true
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Queue Size: 100
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Value: true
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: visualization_marker
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Name: Marker
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Namespaces:
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{}
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@@ -341,7 +360,7 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 12.363367080688477
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Distance: 5925.900390625
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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@@ -373,7 +392,7 @@ Window Geometry:
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Hide Right Dock: true
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Image Tracks:
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collapsed: false
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QMainWindow State: 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QMainWindow State: 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Selection:
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collapsed: false
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Time:
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@@ -288,16 +288,16 @@ std::vector<std::vector<double>> cashedCubeVisPoints;
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ros::Publisher pub_cubes, pub_cubes_gps, pub_aligned_traj, pub_sensor_left_gps;
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ros::Subscriber sub_imu, subs_T_align, sub_stereo_left;
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visualization_msgs::Marker Marker;
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visualization_msgs::Marker Marker, Marker_gps;
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std::ofstream fT_aligned;
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nav_msgs::Path curr_path;
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void callback_imu(const sensor_msgs::Imu::ConstPtr &msg){
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ROS_INFO_STREAM("received imu");
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pub_cubes_gps.publish(Marker);
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Marker.header.frame_id = "global";
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pub_cubes.publish(Marker);
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if (pub_cubes.getNumSubscribers() != 0 || pub_cubes_gps.getNumSubscribers() != 0){
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pub_cubes_gps.publish(Marker_gps);
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pub_cubes.publish(Marker);
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}
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}
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void T_align_callback(const geometry_msgs::TransformStamped &msg){
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@@ -434,5 +434,33 @@ int main(int argc, char* argv[]){
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Marker.points.push_back(tempPoint);
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}
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Marker_gps.header.frame_id = "global";
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Marker_gps.header.stamp = ros::Time();
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Marker_gps.ns = "gps_namespace";
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Marker_gps.id = 1;
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Marker_gps.type = visualization_msgs::Marker::CUBE_LIST;
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Marker_gps.action = visualization_msgs::Marker::ADD;
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Marker_gps.pose.orientation.x = 0.0;
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Marker_gps.pose.orientation.y = 0.0;
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Marker_gps.pose.orientation.z = 0.0;
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Marker_gps.pose.orientation.w = 1.0;
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Marker_gps.scale.x = 6.8f;
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Marker_gps.scale.y = 6.8f;
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Marker_gps.scale.z = 6.8f;
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Marker_gps.color.a = 1.0; // Don't forget to set the alpha!
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Marker_gps.color.r = 0.0;
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Marker_gps.color.g = 1.0;
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Marker_gps.color.b = 0.0;
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//only if using a MESH_RESOURCE marker type:
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Marker.mesh_resource = "package://pr2_description/meshes/base_v0/base.dae";
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for (auto & cubeVisPoint : cubeVisPoints){
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geometry_msgs::Point tempPoint;
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tempPoint.x = cubeVisPoint[0];
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tempPoint.y = cubeVisPoint[1];
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tempPoint.z = cubeVisPoint[2];
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Marker_gps.points.push_back(tempPoint);
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}
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ros::spin();
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}
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