Solved problem with frame being used, which affected to the published…

… ROIs
nestormh · Jul 18, 2015 · b56e877 · b56e877
1 parent c9da5f6
commit b56e877
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Showing 16 changed files with 665 additions and 132 deletions.
diff --git a/config/VoxelGridTracking.rviz b/config/VoxelGridTracking.rviz
@@ -27,29 +27,30 @@ Panels:
         - /voxel_grid_tracking1/SpeedText1
         - /voxel_grid_tracking1/fakeParticles1
         - /voxel_grid_tracking1/fakePointCloud1
-        - /StereoAndOdom1
+        - /voxel_grid_tracking1/TrackingDbg1
+        - /voxel_grid_tracking1/TrackingDbg1/Namespaces1
         - /StereoAndOdom1/InputCloudStereo1
         - /StereoAndOdom1/LeftImg1
         - /StereoAndOdom1/RightImg1
         - /StereoAndOdom1/Velodyne1
         - /dynamic_obstacles1/FreeCells1
         - /dynamic_obstacles1/Octomap1
+        - /Evaluation1
         - /Evaluation1/ImageGT1
         - /Evaluation1/ImageRT1
         - /Evaluation1/dbgROIs1
+        - /Evaluation1/PointCloud21
         - /DemoLZ1/Undistorted1/Right1
         - /DemoLZ1/Undistorted1/Left1
         - /DemoLZ1/Rectified1/Left_rectified1
-        - /Navigation1
         - /Navigation1/Footprint1
         - /Navigation1/global_costmap1
         - /Navigation1/Temptativetrajs1
         - /Navigation1/global_plan1
         - /Navigation1/local_costmap1
         - /Navigation1/VerdinoModel1
-        - /WinnerPath1
       Splitter Ratio: 0.298137
-    Tree Height: 341
+    Tree Height: 363
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -69,7 +70,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: InputCloudStereo
+    SyncSource: ObstaclesPointCloud
 Visualization Manager:
   Class: ""
   Displays:
@@ -272,7 +273,7 @@ Visualization Manager:
             {}
           Queue Size: 100
           Value: false
-        - Alpha: 1
+        - Alpha: 0.25
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
             Max Value: 10
@@ -427,10 +428,10 @@ Visualization Manager:
         - Arrow Length: 0.3
           Class: rviz/PoseArray
           Color: 255; 0; 0
-          Enabled: true
+          Enabled: false
           Name: fakeParticles
           Topic: /voxel_grid_tracking/voxel_grid_tracking/fakeParticles
-          Value: true
+          Value: false
         - Alpha: 1
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
@@ -460,6 +461,14 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: false
+        - Class: rviz/MarkerArray
+          Enabled: true
+          Marker Topic: /voxel_grid_tracking/voxel_grid_tracking/tracking
+          Name: TrackingDbg
+          Namespaces:
+            {}
+          Queue Size: 100
+          Value: true
       Enabled: true
       Name: voxel_grid_tracking
     - Class: rviz/Group
@@ -494,7 +503,7 @@ Visualization Manager:
           Use rainbow: true
           Value: true
         - Class: rviz/Image
-          Enabled: false
+          Enabled: true
           Image Topic: /stereo/left/image_rect_color
           Max Value: 1
           Median window: 5
@@ -503,9 +512,9 @@ Visualization Manager:
           Normalize Range: true
           Queue Size: 2
           Transport Hint: compressed
-          Value: false
+          Value: true
         - Class: rviz/Image
-          Enabled: false
+          Enabled: true
           Image Topic: /stereo/right/image_rect_color
           Max Value: 1
           Median window: 5
@@ -514,7 +523,7 @@ Visualization Manager:
           Normalize Range: true
           Queue Size: 2
           Transport Hint: raw
-          Value: false
+          Value: true
         - Alpha: 1
           Autocompute Intensity Bounds: true
           Autocompute Value Bounds:
@@ -628,7 +637,13 @@ Visualization Manager:
           Class: rviz/Path
           Color: 25; 255; 0
           Enabled: true
+          Line Style: Lines
+          Line Width: 0.03
           Name: globalPlan
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
           Topic: /verdino/move_base/TrajectoryPlannerROS/global_plan
           Value: true
         - Alpha: 1
@@ -810,7 +825,7 @@ Visualization Manager:
           Channel Name: intensity
           Class: rviz/PointCloud2
           Color: 255; 0; 0
-          Color Transformer: FlatColor
+          Color Transformer: RGB8
           Decay Time: 0
           Enabled: true
           Invert Rainbow: false
@@ -825,7 +840,7 @@ Visualization Manager:
           Size (Pixels): 3
           Size (m): 0.5
           Style: Spheres
-          Topic: /voxel_grid_tracking/dbgROIs
+          Topic: /voxel_grid_tracking/voxel_grid_tracking/debug_roi
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
@@ -837,7 +852,36 @@ Visualization Manager:
             {}
           Queue Size: 100
           Value: false
-      Enabled: false
+        - Alpha: 1
+          Autocompute Intensity Bounds: true
+          Autocompute Value Bounds:
+            Max Value: 10
+            Min Value: -10
+            Value: true
+          Axis: Z
+          Channel Name: intensity
+          Class: rviz/PointCloud2
+          Color: 255; 255; 255
+          Color Transformer: RGB8
+          Decay Time: 0
+          Enabled: true
+          Invert Rainbow: false
+          Max Color: 255; 255; 255
+          Max Intensity: 4096
+          Min Color: 0; 0; 0
+          Min Intensity: 0
+          Name: PointCloud2
+          Position Transformer: XYZ
+          Queue Size: 10
+          Selectable: true
+          Size (Pixels): 3
+          Size (m): 0.5
+          Style: Squares
+          Topic: /voxel_grid_tracking/voxel_grid_tracking/debug_roi_transformed
+          Use Fixed Frame: true
+          Use rainbow: true
+          Value: true
+      Enabled: true
       Name: Evaluation
     - Class: rviz/Group
       Displays:
@@ -1031,7 +1075,13 @@ Visualization Manager:
           Class: rviz/Path
           Color: 25; 255; 0
           Enabled: true
+          Line Style: Lines
+          Line Width: 0.03
           Name: global_plan
+          Offset:
+            X: 0
+            Y: 0
+            Z: 0
           Topic: /verdino/move_base/GrullNavfnROS/plan
           Value: true
         - Alpha: 0.7
@@ -1113,22 +1163,22 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 8.06214
+      Distance: 11.2351
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 2.24123
-        Y: 1.10835
-        Z: -0.403067
+        X: 6.7955
+        Y: -0.637684
+        Z: -0.403069
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 0.265204
+      Pitch: 0.605204
       Target Frame: left_cam
       Value: VideoBahnhoffAbove
-      Yaw: 3.14173
+      Yaw: 3.22674
     Saved:
       - Class: rviz/XYOrbit
         Distance: 20.0678
@@ -1251,9 +1301,9 @@ Visualization Manager:
         Yaw: 3.14173
 Window Geometry:
   Displays:
-    collapsed: true
-  Height: 748
-  Hide Left Dock: true
+    collapsed: false
+  Height: 713
+  Hide Left Dock: false
   Hide Right Dock: true
   ImageGT:
     collapsed: false
@@ -1267,7 +1317,7 @@ Window Geometry:
     collapsed: false
   Left_rectified:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Right:
     collapsed: false
   RightImg:
@@ -1281,7 +1331,7 @@ Window Geometry:
   Time:
     collapsed: false
   Tool Properties:
-    collapsed: true
+    collapsed: false
   Views:
     collapsed: true
   Width: 1366