diff --git a/.clang-format b/.clang-format new file mode 100644 index 0000000..b41fae9 --- /dev/null +++ b/.clang-format @@ -0,0 +1,47 @@ +# Modified from https://github.com/ament/ament_lint/blob/master/ament_clang_format/ament_clang_format/configuration/.clang-format +Language: Cpp +BasedOnStyle: Google + +AccessModifierOffset: -2 +AlignAfterOpenBracket: AlwaysBreak +AllowShortFunctionsOnASingleLine: InlineOnly +BraceWrapping: + AfterClass: true + AfterFunction: true + AfterNamespace: true + AfterStruct: true +BreakBeforeBraces: Custom +ColumnLimit: 100 +ConstructorInitializerIndentWidth: 0 +ContinuationIndentWidth: 2 +DerivePointerAlignment: false +PointerAlignment: Middle +ReflowComments: true +IncludeCategories: + # C++ system headers + - Regex: <[a-z_]*> + Priority: 6 + CaseSensitive: true + # C system headers + - Regex: <.*\.h> + Priority: 5 + CaseSensitive: true + # Boost headers + - Regex: boost/.* + Priority: 4 + CaseSensitive: true + # Message headers + - Regex: .*_msgs/.* + Priority: 3 + CaseSensitive: true + - Regex: .*_srvs/.* + Priority: 3 + CaseSensitive: true + # Other Package headers + - Regex: <.*> + Priority: 2 + CaseSensitive: true + # Local package headers + - Regex: '".*"' + Priority: 1 + CaseSensitive: true diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 0000000..ac84037 --- /dev/null +++ b/.editorconfig @@ -0,0 +1,16 @@ +root = true + +[*] +charset = utf-8 +end_of_line = lf +indent_style = space +indent_size = 2 +insert_final_newline = true +trim_trailing_whitespace = true + +[*.md] +indent_size = 4 +trim_trailing_whitespace = false + +[*.py] +indent_size = 4 diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000..bb00405 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,47 @@ +## PR Type + + + +- New Feature +- Improvement +- Bug Fix + +## Related Links + + + +## Description + + + +## Review Procedure + + + +## Remarks + + + +## Pre-Review Checklist for the PR Author + +**PR Author should check the checkboxes below when creating the PR.** + +- [ ] Assign PR to reviewer + +## Checklist for the PR Reviewer + +**Reviewers should check the checkboxes below before approval.** + +- [ ] Commits are properly organized and messages are according to the guideline +- [ ] (Optional) Unit tests have been written for new behavior +- [ ] PR title describes the changes + +## Post-Review Checklist for the PR Author + +**PR Author should check the checkboxes below before merging.** + +- [ ] All open points are addressed and tracked via issues or tickets + +## CI Checks + +- **Build and test for PR**: Required to pass before the merge. diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml new file mode 100644 index 0000000..3f3bf24 --- /dev/null +++ b/.github/dependabot.yaml @@ -0,0 +1,10 @@ +version: 2 +updates: + - package-ecosystem: github-actions + directory: / + schedule: + interval: daily + open-pull-requests-limit: 1 + labels: + - bot + - github-actions diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml new file mode 100644 index 0000000..d3e31ac --- /dev/null +++ b/.github/sync-files.yaml @@ -0,0 +1,23 @@ +- repository: autowarefoundation/autoware + files: + - source: .github/dependabot.yaml + - source: .github/workflows/pre-commit.yaml + - source: .github/workflows/pre-commit-optional.yaml + - source: .github/workflows/semantic-pull-request.yaml + - source: .github/workflows/spell-check-differential.yaml + - source: .github/workflows/sync-files.yaml + - source: .clang-format + - source: .markdown-link-check.json + - source: .markdownlint.yaml + - source: .pre-commit-config-optional.yaml + - source: .prettierignore + - source: .prettierrc.yaml + - source: .yamllint.yaml + - source: CPPLINT.cfg + - source: setup.cfg + +- repository: autowarefoundation/autoware_common + files: + - source: .github/workflows/build-and-test.yaml + - source: .github/workflows/build-and-test-differential.yaml + - source: .github/workflows/cancel-previous-workflows.yaml diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml new file mode 100644 index 0000000..8eeb1de --- /dev/null +++ b/.github/workflows/build-and-test-differential.yaml @@ -0,0 +1,91 @@ +name: build-and-test-differential + +on: + pull_request: + +jobs: + build-and-test-differential: + runs-on: ubuntu-latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Build + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Test + id: test + if: ${{ steps.get-modified-packages.outputs.modified-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v3 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + flags: differential + + clang-tidy-differential: + runs-on: ubuntu-latest + container: ros:humble + needs: build-and-test-differential + steps: + - name: Check out repository + uses: actions/checkout@v3 + with: + fetch-depth: 0 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get modified packages + id: get-modified-packages + uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 + + - name: Get modified files + id: get-modified-files + uses: tj-actions/changed-files@v35 + with: + files: | + **/*.cpp + **/*.hpp + + - name: Run clang-tidy + if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }} + uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 + with: + rosdistro: humble + target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} + target-files: ${{ steps.get-modified-files.outputs.all_changed_files }} + clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy + build-depends-repos: build_depends.repos diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml new file mode 100644 index 0000000..6459a98 --- /dev/null +++ b/.github/workflows/build-and-test.yaml @@ -0,0 +1,58 @@ +name: build-and-test + +on: + push: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + build-and-test: + if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} + runs-on: ubuntu-latest + container: ${{ matrix.container }} + strategy: + fail-fast: false + matrix: + rosdistro: + - humble + include: + - rosdistro: humble + container: ros:humble + build-depends-repos: build_depends.repos + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Remove exec_depend + uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 + + - name: Get self packages + id: get-self-packages + uses: autowarefoundation/autoware-github-actions/get-self-packages@v1 + + - name: Build + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + uses: autowarefoundation/autoware-github-actions/colcon-build@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Test + if: ${{ steps.get-self-packages.outputs.self-packages != '' }} + id: test + uses: autowarefoundation/autoware-github-actions/colcon-test@v1 + with: + rosdistro: ${{ matrix.rosdistro }} + target-packages: ${{ steps.get-self-packages.outputs.self-packages }} + build-depends-repos: ${{ matrix.build-depends-repos }} + + - name: Upload coverage to CodeCov + if: ${{ steps.test.outputs.coverage-report-files != '' }} + uses: codecov/codecov-action@v3 + with: + files: ${{ steps.test.outputs.coverage-report-files }} + fail_ci_if_error: false + verbose: true + flags: total diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml new file mode 100644 index 0000000..f9c29b8 --- /dev/null +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -0,0 +1,14 @@ +name: cancel-previous-workflows + +on: + pull_request_target: + +jobs: + cancel-previous-workflows: + runs-on: ubuntu-latest + steps: + - name: Cancel previous runs + uses: styfle/cancel-workflow-action@0.11.0 + with: + workflow_id: all + all_but_latest: true diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml new file mode 100644 index 0000000..93e05dc --- /dev/null +++ b/.github/workflows/pre-commit-optional.yaml @@ -0,0 +1,16 @@ +name: pre-commit-optional + +on: + pull_request: + +jobs: + pre-commit-optional: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@v1 + with: + pre-commit-config: .pre-commit-config-optional.yaml diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml new file mode 100644 index 0000000..b231dbd --- /dev/null +++ b/.github/workflows/pre-commit.yaml @@ -0,0 +1,27 @@ +name: pre-commit + +on: + pull_request: + +jobs: + pre-commit: + if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Check out repository + uses: actions/checkout@v3 + with: + ref: ${{ github.event.pull_request.head.ref }} + + - name: Run pre-commit + uses: autowarefoundation/autoware-github-actions/pre-commit@v1 + with: + pre-commit-config: .pre-commit-config.yaml + token: ${{ steps.generate-token.outputs.token }} diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml new file mode 100644 index 0000000..71224c2 --- /dev/null +++ b/.github/workflows/semantic-pull-request.yaml @@ -0,0 +1,12 @@ +name: semantic-pull-request + +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + semantic-pull-request: + uses: autowarefoundation/autoware-github-actions/.github/workflows/semantic-pull-request.yaml@v1 diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml new file mode 100644 index 0000000..eb18ccd --- /dev/null +++ b/.github/workflows/spell-check-differential.yaml @@ -0,0 +1,16 @@ +name: spell-check-differential + +on: + pull_request: + +jobs: + spell-check-differential: + runs-on: ubuntu-latest + steps: + - name: Check out repository + uses: actions/checkout@v3 + + - name: Run spell-check + uses: autowarefoundation/autoware-github-actions/spell-check@v1 + with: + cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml new file mode 100644 index 0000000..b9dc590 --- /dev/null +++ b/.github/workflows/sync-files.yaml @@ -0,0 +1,33 @@ +name: sync-files + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + sync-files: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-latest + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v1 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run sync-files + uses: autowarefoundation/autoware-github-actions/sync-files@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pr-labels: | + bot + sync-files + auto-merge-method: squash diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..5ce2c26 --- /dev/null +++ b/.gitignore @@ -0,0 +1,15 @@ +# Vim +*.swp +*.swo + +# Visual Studio Code +.vscode/ +*.code-workspace + +# colcon +build/ +install/ +log/ + +# Python +*.pyc diff --git a/.markdown-link-check.json b/.markdown-link-check.json new file mode 100644 index 0000000..c71a3e4 --- /dev/null +++ b/.markdown-link-check.json @@ -0,0 +1,16 @@ +{ + "aliveStatusCodes": [200, 206, 403], + "ignorePatterns": [ + { + "pattern": "^http://localhost" + }, + { + "pattern": "^http://127\\.0\\.0\\.1" + }, + { + "pattern": "^https://github.com/.*/discussions/new" + } + ], + "retryOn429": true, + "retryCount": 10 +} diff --git a/.markdownlint.yaml b/.markdownlint.yaml new file mode 100644 index 0000000..babaaa1 --- /dev/null +++ b/.markdownlint.yaml @@ -0,0 +1,11 @@ +# See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. +default: true +MD013: false +MD024: + siblings_only: true +MD029: + style: ordered +MD033: false +MD041: false +MD046: false +MD049: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml new file mode 100644 index 0000000..e0019e1 --- /dev/null +++ b/.pre-commit-config-optional.yaml @@ -0,0 +1,6 @@ +repos: + - repo: https://github.com/tcort/markdown-link-check + rev: v3.10.3 + hooks: + - id: markdown-link-check + args: [--config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml new file mode 100644 index 0000000..c7dbeec --- /dev/null +++ b/.pre-commit-config.yaml @@ -0,0 +1,92 @@ +ci: + autofix_commit_msg: "ci(pre-commit): autofix" + autoupdate_commit_msg: "ci(pre-commit): autoupdate" + +repos: + - repo: https://github.com/pre-commit/pre-commit-hooks + rev: v4.1.0 + hooks: + - id: check-json + - id: check-merge-conflict + - id: check-toml + - id: check-xml + - id: check-yaml + - id: detect-private-key + - id: end-of-file-fixer + - id: mixed-line-ending + - id: trailing-whitespace + args: [--markdown-linebreak-ext=md] + + - repo: https://github.com/igorshubovych/markdownlint-cli + rev: v0.30.0 + hooks: + - id: markdownlint + args: [-c, .markdownlint.yaml, --fix] + + - repo: https://github.com/pre-commit/mirrors-prettier + rev: v2.5.1 + hooks: + - id: prettier + + - repo: https://github.com/adrienverge/yamllint + rev: v1.26.3 + hooks: + - id: yamllint + + - repo: https://github.com/tier4/pre-commit-hooks-ros + rev: v0.4.0 + hooks: + - id: prettier-package-xml + - id: sort-package-xml + + - repo: https://github.com/shellcheck-py/shellcheck-py + rev: v0.8.0.3 + hooks: + - id: shellcheck + + - repo: https://github.com/scop/pre-commit-shfmt + rev: v3.4.2-1 + hooks: + - id: shfmt + args: [-w, -s, -i=4] + + - repo: https://github.com/pycqa/isort + rev: 5.10.1 + hooks: + - id: isort + + - repo: https://github.com/psf/black + rev: 22.1.0 + hooks: + - id: black + args: [--line-length=100] + + - repo: https://github.com/PyCQA/flake8 + rev: 4.0.1 + hooks: + - id: flake8 + additional_dependencies: + [ + flake8-blind-except, + flake8-builtins, + flake8-class-newline, + flake8-comprehensions, + flake8-deprecated, + flake8-docstrings, + flake8-import-order, + flake8-quotes, + ] + + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v13.0.0 + hooks: + - id: clang-format + + - repo: https://github.com/cpplint/cpplint + rev: 1.5.5 + hooks: + - id: cpplint + args: [--quiet] + exclude: .cu + +exclude: .svg diff --git a/.prettierignore b/.prettierignore new file mode 100644 index 0000000..a3c34d0 --- /dev/null +++ b/.prettierignore @@ -0,0 +1,2 @@ +*.param.yaml +*.rviz diff --git a/.prettierrc.yaml b/.prettierrc.yaml new file mode 100644 index 0000000..e29bf32 --- /dev/null +++ b/.prettierrc.yaml @@ -0,0 +1,20 @@ +printWidth: 100 +tabWidth: 2 +overrides: + - files: package.xml + options: + printWidth: 1000 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.launch.xml" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore + + - files: "*.xacro" + options: + printWidth: 200 + xmlSelfClosingSpace: false + xmlWhitespaceSensitivity: ignore diff --git a/.yamllint.yaml b/.yamllint.yaml new file mode 100644 index 0000000..2c7bd08 --- /dev/null +++ b/.yamllint.yaml @@ -0,0 +1,22 @@ +extends: default + +ignore: | + *.param.yaml + +rules: + braces: + level: error + max-spaces-inside: 1 # To format with Prettier + comments: + level: error + min-spaces-from-content: 1 # To be compatible with C++ and Python + document-start: + level: error + present: false # Don't need document start markers + line-length: disable # Delegate to Prettier + truthy: + level: error + check-keys: false # To allow 'on' of GitHub Actions + quoted-strings: + level: error + required: only-when-needed # To keep consistent style diff --git a/CPPLINT.cfg b/CPPLINT.cfg new file mode 100644 index 0000000..ba6bdf0 --- /dev/null +++ b/CPPLINT.cfg @@ -0,0 +1,14 @@ +# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_cpplint/ament_cpplint/main.py#L64-L120 +set noparent +linelength=100 +includeorder=standardcfirst +filter=-build/c++11 # we do allow C++11 +filter=-build/namespaces_literals # we allow using namespace for literals +filter=-runtime/references # we consider passing non-const references to be ok +filter=-whitespace/braces # we wrap open curly braces for namespaces, classes and functions +filter=-whitespace/indent # we don't indent keywords like public, protected and private with one space +filter=-whitespace/parens # we allow closing parenthesis to be on the next line +filter=-whitespace/semicolon # we allow the developer to decide about whitespace after a semicolon +filter=-build/header_guard # we automatically fix the names of header guards using pre-commit +filter=-build/include_order # we use the custom include order +filter=-build/include_subdir # we allow the style of "foo.hpp" diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..261eeb9 --- /dev/null +++ b/LICENSE @@ -0,0 +1,201 @@ + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + Licensed under the Apache License, Version 2.0 (the "License"); + you may not use this file except in compliance with the License. + You may obtain a copy of the License at + + http://www.apache.org/licenses/LICENSE-2.0 + + Unless required by applicable law or agreed to in writing, software + distributed under the License is distributed on an "AS IS" BASIS, + WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + See the License for the specific language governing permissions and + limitations under the License. diff --git a/README.md b/README.md new file mode 100644 index 0000000..8df1780 --- /dev/null +++ b/README.md @@ -0,0 +1,3 @@ +# edge_auto_launch + +Please see [tier4/edge-auto](https://github.com/tier4/edge-auto). diff --git a/build_depends.repos b/build_depends.repos new file mode 100644 index 0000000..56f46b6 --- /dev/null +++ b/build_depends.repos @@ -0,0 +1 @@ +repositories: diff --git a/edge_auto_launch/CMakeLists.txt b/edge_auto_launch/CMakeLists.txt new file mode 100644 index 0000000..1d5dff6 --- /dev/null +++ b/edge_auto_launch/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 3.5) +project(edge_auto_launch) + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +if(BUILD_TESTING) + find_package(ament_lint_auto REQUIRED) + ament_lint_auto_find_test_dependencies() +endif() + +ament_auto_package(INSTALL_TO_SHARE + config + launch +) diff --git a/edge_auto_launch/config/can_assign_matrix.yaml b/edge_auto_launch/config/can_assign_matrix.yaml new file mode 100644 index 0000000..1fd5a38 --- /dev/null +++ b/edge_auto_launch/config/can_assign_matrix.yaml @@ -0,0 +1,13 @@ +/**: + ros__parameters: + + can_assign_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN <-roi_msg + [1, 0, 0, 0, 0, 0, 0, 0, # UNKNOWN <-detected_objects + 0, 1, 0, 0, 0, 0, 0, 0, # CAR + 0, 0, 1, 0, 0, 0, 0, 0, # TRUCK + 0, 0, 0, 1, 0, 0, 0, 0, # BUS + 0, 0, 0, 0, 1, 0, 0, 0, # TRAILER + 0, 0, 0, 0, 0, 1, 0, 0, # MOTORBIKE + 0, 0, 0, 0, 0, 0, 1, 0, # BICYCLE + 0, 0, 0, 0, 0, 0, 0, 1] # PEDESTRIAN diff --git a/edge_auto_launch/config/centerpoint.param.yaml b/edge_auto_launch/config/centerpoint.param.yaml new file mode 100644 index 0000000..585560a --- /dev/null +++ b/edge_auto_launch/config/centerpoint.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + cloud_capacity: 2000000 + model_params: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 4 + max_voxel_size: 40000 + point_cloud_range: [-89.6, -89.6, -3.0, 89.6, 89.6, 5.0] + voxel_size: [0.32, 0.32, 8.0] + downsample_factor: 1 + encoder_in_feature_size: 9 + # post-process params + post_process_params: + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] diff --git a/edge_auto_launch/config/centerpoint_tiny.param.yaml b/edge_auto_launch/config/centerpoint_tiny.param.yaml new file mode 100644 index 0000000..e117196 --- /dev/null +++ b/edge_auto_launch/config/centerpoint_tiny.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + cloud_capacity: 2000000 + model_params: + class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] + point_feature_size: 4 + max_voxel_size: 40000 + point_cloud_range: [-76.8, -76.8, -2.0, 76.8, 76.8, 4.0] + voxel_size: [0.32, 0.32, 6.0] + downsample_factor: 2 + encoder_in_feature_size: 9 + # post-process params + post_process_params: + circle_nms_dist_threshold: 0.5 + iou_nms_target_class_names: ["CAR"] + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] diff --git a/edge_auto_launch/config/detection_class_remapper.param.yaml b/edge_auto_launch/config/detection_class_remapper.param.yaml new file mode 100644 index 0000000..ed378ff --- /dev/null +++ b/edge_auto_launch/config/detection_class_remapper.param.yaml @@ -0,0 +1,38 @@ +/**: + ros__parameters: + allow_remapping_by_area_matrix: + # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2]. + # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2] + # row: original class. column: class to remap to + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN + [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN + 0, 0, 1, 0, 1, 0, 0, 0, #CAR + 0, 0, 0, 0, 1, 0, 0, 0, #TRUCK + 0, 0, 0, 0, 1, 0, 0, 0, #BUS + 0, 0, 0, 0, 0, 0, 0, 0, #TRAILER + 0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE + 0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE + 0, 0, 0, 0, 0, 0, 0, 0] #PEDESTRIAN + + min_area_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN + 0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR + 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK + 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS + 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER + 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE + 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE + 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN + + + max_area_matrix: + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN + 0.000, 0.000, 36.000, 0.000, inf, 0.000, 0.000, 0.000, #CAR + 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #TRUCK + 0.000, 0.000, 0.000, 0.000, inf, 0.000, 0.000, 0.000, #BUS + 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER + 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE + 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE + 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN diff --git a/edge_auto_launch/config/intrinsics_camera_calibrator.yaml b/edge_auto_launch/config/intrinsics_camera_calibrator.yaml new file mode 100644 index 0000000..740178b --- /dev/null +++ b/edge_auto_launch/config/intrinsics_camera_calibrator.yaml @@ -0,0 +1,5 @@ +board_type: dot_board +board_parameters: + cols: 8 + rows: 6 + cell_size: 0.1 diff --git a/edge_auto_launch/config/roi_sync.param.yaml b/edge_auto_launch/config/roi_sync.param.yaml new file mode 100644 index 0000000..67c1099 --- /dev/null +++ b/edge_auto_launch/config/roi_sync.param.yaml @@ -0,0 +1,13 @@ +/**: + ros__parameters: + input_offset_ms: [50.0, 50.0] + timeout_ms: 70.0 + match_threshold_ms: 50.0 + image_buffer_size: 15 + debug_mode: false + filter_scope_min_x: -100.0 + filter_scope_min_y: -100.0 + filter_scope_min_z: -100.0 + filter_scope_max_x: 100.0 + filter_scope_max_y: 100.0 + filter_scope_max_z: 100.0 diff --git a/edge_auto_launch/config/scan_ground_filter.param.yaml b/edge_auto_launch/config/scan_ground_filter.param.yaml new file mode 100644 index 0000000..cd18c66 --- /dev/null +++ b/edge_auto_launch/config/scan_ground_filter.param.yaml @@ -0,0 +1,6 @@ +/**: + ros__parameters: + global_slope_max_angle_deg: 10.0 + local_slope_max_angle_deg: 30.0 + split_points_distance_tolerance: 0.2 + split_height_distance: 0.2 diff --git a/edge_auto_launch/config/visualization/calibration_extrinsic_at128_camera0.rviz b/edge_auto_launch/config/visualization/calibration_extrinsic_at128_camera0.rviz new file mode 100644 index 0000000..4343f3c --- /dev/null +++ b/edge_auto_launch/config/visualization/calibration_extrinsic_at128_camera0.rviz @@ -0,0 +1,1189 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Image1/Topic1 + - /(Optimized) Binary Transformed Points1/Topic1 + - "/Cluster info: detail code1/Topic1" + - "/Cluster info: detail code1/Namespaces1" + - /Marker1/Topic1 + - /Marker2/Topic1 + - /Marker3/Topic1 + - /Marker5/Topic1 + - /Marker6/Topic1 + - /Marker7/Topic1 + - /Marker8/Topic1 + - /Tag calib markers (filtered)1 + - /Tag calib markers (filtered)1/Namespaces1 + Splitter Ratio: 0.5411558747291565 + Tree Height: 794 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Raw Pointcloud +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 226; 226; 226 + 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: 20 + Reference Frame: + Value: true + - Alpha: 0.5 + Cell Size: 0.13500000536441803 + Class: rviz_default_plugins/Grid + Color: 226; 226; 226 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid Template + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: YZ + Plane Cell Count: 6 + Reference Frame: + Value: false + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/camera/camera0/image_raw + Value: false + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera0/image_raw + Value: false + Visibility: + (Before Transformed) Edge Pointcloud: true + (Optimized) Binary Transformed Points: true + (Optimized) Transformed Point: true + Axes: true + Boundary Points: true + "Cluster info: detail code": true + "Cluster info: size": true + Clusters: true + Colored Cluster: true + Estimated Corners (PCA): true + Filled Cluster B&W: true + Filled Clusters: true + Grid: true + Grid Template: true + ID: true + Image: true + Initial Corners: true + Initial Transformed Points: true + Initial guess Corners: true + Intersection Markers: true + Marker: true + MarkerArray (Unused): true + PointCloud2: true + Points of Interest: true + Raw Pointcloud: true + Tag Frame: true + Tag calib markers (filtered): true + Tag calib markers (unfiltered): true + Template Frame: true + Template Points: true + Value: true + edges1: true + edges2: true + edges3: true + edges4: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 110 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Raw Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/at128/pointcloud_raw + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 78 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points of Interest + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/whole_edged_pc + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 49 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: Clusters + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/cluster_edge_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 89 + Min Color: 0; 0; 0 + Min Intensity: 2 + Name: Filled Clusters + Position Transformer: XYZ + Selectable: true + Size (Pixels): 4 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/detected_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Filled Clusters + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/boundary_marker + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Filled Cluster B&W + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/cluster_marker + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 77 + Min Color: 0; 0; 0 + Min Intensity: 27 + Name: Boundary Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/boundary_pts + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Estimated Corners (PCA) + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/transformed_points_tag + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 50 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: Initial guess Corners + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/transformed_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 93 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial Transformed Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/initial_template_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Tag Frame + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/tag_frame + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ID + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/id_markers + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 98 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: (Optimized) Transformed Point + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/template_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 95 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: (Optimized) Binary Transformed Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/template_points_3d + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 200 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: Template Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/associated_pattern_3d + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Template Frame + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/ideal_frame + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: MarkerArray (Unused) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/detail_valid_marker + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: (Before Transformed) Edge Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/before_transformed_edge_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection Markers + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/intesection_markers + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/lidartag_cluster_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.5 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/lidartag_cluster_edge_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: "Cluster info: detail code" + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/cluster_buff_index_number_markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: "Cluster info: size" + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/cluster_buff_points_size_markers + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Colored Cluster + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/colored_cluster_buff + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/top_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/top_boundary_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/left_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/left_boundary_corner + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 50 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/transformed_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/down_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/down_boundary_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/right_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/right_boundary_corner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Tag calib markers (unfiltered) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/current_projections + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Tag calib markers (filtered) + Namespaces: + calibration_status: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/filtered_projections + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges1 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/edge_group_1 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/edge_group_2 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 0; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges3 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/edge_group_3 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges4 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/edge_group_4 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial Corners + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/initial_corners + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: lidar + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 8.203300476074219 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.370729684829712 + Y: -0.01575407385826111 + Z: 1.9481933116912842 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4703984260559082 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 3.4203991889953613 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1862 + X: 58 + Y: 27 diff --git a/edge_auto_launch/config/visualization/calibration_extrinsic_at128_camera1.rviz b/edge_auto_launch/config/visualization/calibration_extrinsic_at128_camera1.rviz new file mode 100644 index 0000000..a232597 --- /dev/null +++ b/edge_auto_launch/config/visualization/calibration_extrinsic_at128_camera1.rviz @@ -0,0 +1,1189 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Image1/Topic1 + - /(Optimized) Binary Transformed Points1/Topic1 + - "/Cluster info: detail code1/Topic1" + - "/Cluster info: detail code1/Namespaces1" + - /Marker1/Topic1 + - /Marker2/Topic1 + - /Marker3/Topic1 + - /Marker5/Topic1 + - /Marker6/Topic1 + - /Marker7/Topic1 + - /Marker8/Topic1 + - /Tag calib markers (filtered)1 + - /Tag calib markers (filtered)1/Namespaces1 + Splitter Ratio: 0.5411558747291565 + Tree Height: 794 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Raw Pointcloud +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 226; 226; 226 + 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: 20 + Reference Frame: + Value: true + - Alpha: 0.5 + Cell Size: 0.13500000536441803 + Class: rviz_default_plugins/Grid + Color: 226; 226; 226 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid Template + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: YZ + Plane Cell Count: 6 + Reference Frame: + Value: false + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/camera/camera1/image_raw + Value: false + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera1/image_raw + Value: false + Visibility: + (Before Transformed) Edge Pointcloud: true + (Optimized) Binary Transformed Points: true + (Optimized) Transformed Point: true + Axes: true + Boundary Points: true + "Cluster info: detail code": true + "Cluster info: size": true + Clusters: true + Colored Cluster: true + Estimated Corners (PCA): true + Filled Cluster B&W: true + Filled Clusters: true + Grid: true + Grid Template: true + ID: true + Image: true + Initial Corners: true + Initial Transformed Points: true + Initial guess Corners: true + Intersection Markers: true + Marker: true + MarkerArray (Unused): true + PointCloud2: true + Points of Interest: true + Raw Pointcloud: true + Tag Frame: true + Tag calib markers (filtered): true + Tag calib markers (unfiltered): true + Template Frame: true + Template Points: true + Value: true + edges1: true + edges2: true + edges3: true + edges4: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 110 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Raw Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/at128/pointcloud_raw + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 78 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points of Interest + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/whole_edged_pc + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 49 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: Clusters + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/cluster_edge_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 89 + Min Color: 0; 0; 0 + Min Intensity: 2 + Name: Filled Clusters + Position Transformer: XYZ + Selectable: true + Size (Pixels): 4 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/detected_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Filled Clusters + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/boundary_marker + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Filled Cluster B&W + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/cluster_marker + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 77 + Min Color: 0; 0; 0 + Min Intensity: 27 + Name: Boundary Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/boundary_pts + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Estimated Corners (PCA) + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/transformed_points_tag + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 50 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: Initial guess Corners + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/transformed_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 93 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial Transformed Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/initial_template_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Tag Frame + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/tag_frame + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ID + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/id_markers + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 98 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: (Optimized) Transformed Point + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/template_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 95 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: (Optimized) Binary Transformed Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/template_points_3d + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 200 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: Template Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/associated_pattern_3d + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Template Frame + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/ideal_frame + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: MarkerArray (Unused) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/detail_valid_marker + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: (Before Transformed) Edge Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/before_transformed_edge_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection Markers + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/intesection_markers + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/lidartag_cluster_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.5 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/lidartag_cluster_edge_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: "Cluster info: detail code" + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/cluster_buff_index_number_markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: "Cluster info: size" + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/cluster_buff_points_size_markers + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Colored Cluster + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/colored_cluster_buff + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/top_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/top_boundary_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/left_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/left_boundary_corner + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 50 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/transformed_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/down_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/down_boundary_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/right_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/right_boundary_corner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Tag calib markers (unfiltered) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/current_projections + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Tag calib markers (filtered) + Namespaces: + calibration_status: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/filtered_projections + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges1 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/edge_group_1 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/edge_group_2 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 0; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges3 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/edge_group_3 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges4 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/edge_group_4 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial Corners + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/initial_corners + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: lidar + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 8.203300476074219 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.370729684829712 + Y: -0.01575407385826111 + Z: 1.9481933116912842 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4703984260559082 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 3.4203991889953613 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1862 + X: 58 + Y: 27 diff --git a/edge_auto_launch/config/visualization/calibration_extrinsic_xt32_camera0.rviz b/edge_auto_launch/config/visualization/calibration_extrinsic_xt32_camera0.rviz new file mode 100644 index 0000000..03003e2 --- /dev/null +++ b/edge_auto_launch/config/visualization/calibration_extrinsic_xt32_camera0.rviz @@ -0,0 +1,1189 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Image1/Topic1 + - /(Optimized) Binary Transformed Points1/Topic1 + - "/Cluster info: detail code1/Topic1" + - "/Cluster info: detail code1/Namespaces1" + - /Marker1/Topic1 + - /Marker2/Topic1 + - /Marker3/Topic1 + - /Marker5/Topic1 + - /Marker6/Topic1 + - /Marker7/Topic1 + - /Marker8/Topic1 + - /Tag calib markers (filtered)1 + - /Tag calib markers (filtered)1/Namespaces1 + Splitter Ratio: 0.5411558747291565 + Tree Height: 794 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Raw Pointcloud +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 226; 226; 226 + 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: 20 + Reference Frame: + Value: true + - Alpha: 0.5 + Cell Size: 0.13500000536441803 + Class: rviz_default_plugins/Grid + Color: 226; 226; 226 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid Template + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: YZ + Plane Cell Count: 6 + Reference Frame: + Value: false + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/camera/camera0/image_raw + Value: false + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera0/image_raw + Value: false + Visibility: + (Before Transformed) Edge Pointcloud: true + (Optimized) Binary Transformed Points: true + (Optimized) Transformed Point: true + Axes: true + Boundary Points: true + "Cluster info: detail code": true + "Cluster info: size": true + Clusters: true + Colored Cluster: true + Estimated Corners (PCA): true + Filled Cluster B&W: true + Filled Clusters: true + Grid: true + Grid Template: true + ID: true + Image: true + Initial Corners: true + Initial Transformed Points: true + Initial guess Corners: true + Intersection Markers: true + Marker: true + MarkerArray (Unused): true + PointCloud2: true + Points of Interest: true + Raw Pointcloud: true + Tag Frame: true + Tag calib markers (filtered): true + Tag calib markers (unfiltered): true + Template Frame: true + Template Points: true + Value: true + edges1: true + edges2: true + edges3: true + edges4: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 110 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Raw Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/xt32/pointcloud_raw + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 78 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points of Interest + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/whole_edged_pc + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 49 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: Clusters + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/cluster_edge_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 89 + Min Color: 0; 0; 0 + Min Intensity: 2 + Name: Filled Clusters + Position Transformer: XYZ + Selectable: true + Size (Pixels): 4 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/detected_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Filled Clusters + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/boundary_marker + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Filled Cluster B&W + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/cluster_marker + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 77 + Min Color: 0; 0; 0 + Min Intensity: 27 + Name: Boundary Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/boundary_pts + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Estimated Corners (PCA) + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/transformed_points_tag + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 50 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: Initial guess Corners + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/transformed_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 93 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial Transformed Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/initial_template_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Tag Frame + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/tag_frame + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ID + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/id_markers + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 98 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: (Optimized) Transformed Point + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/template_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 95 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: (Optimized) Binary Transformed Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/template_points_3d + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 200 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: Template Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/associated_pattern_3d + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Template Frame + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/ideal_frame + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: MarkerArray (Unused) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/detail_valid_marker + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: (Before Transformed) Edge Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/before_transformed_edge_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection Markers + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/intesection_markers + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/lidartag_cluster_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.5 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/lidartag_cluster_edge_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: "Cluster info: detail code" + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/cluster_buff_index_number_markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: "Cluster info: size" + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/cluster_buff_points_size_markers + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Colored Cluster + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/colored_cluster_buff + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/top_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/top_boundary_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/left_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/left_boundary_corner + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 50 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/transformed_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/down_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/down_boundary_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/right_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/right_boundary_corner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Tag calib markers (unfiltered) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/current_projections + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Tag calib markers (filtered) + Namespaces: + calibration_status: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/filtered_projections + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges1 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/edge_group_1 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/edge_group_2 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 0; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges3 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/edge_group_3 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: edges4 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/edge_group_4 + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial Corners + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.07999999821186066 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera0/camera_link/lidartag/initial_corners + Use Fixed Frame: true + Use rainbow: true + Value: false + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: lidar + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 8.203300476074219 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 1.370729684829712 + Y: -0.01575407385826111 + Z: 1.9481933116912842 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.4703984260559082 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 3.4203991889953613 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1862 + X: 58 + Y: 27 diff --git a/edge_auto_launch/config/visualization/calibration_extrinsic_xt32_camera1.rviz b/edge_auto_launch/config/visualization/calibration_extrinsic_xt32_camera1.rviz new file mode 100644 index 0000000..eecb479 --- /dev/null +++ b/edge_auto_launch/config/visualization/calibration_extrinsic_xt32_camera1.rviz @@ -0,0 +1,1189 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Image1/Topic1 + - /(Optimized) Binary Transformed Points1/Topic1 + - "/Cluster info: detail code1/Topic1" + - "/Cluster info: detail code1/Namespaces1" + - /Marker1/Topic1 + - /Marker2/Topic1 + - /Marker3/Topic1 + - /Marker5/Topic1 + - /Marker6/Topic1 + - /Marker7/Topic1 + - /Marker8/Topic1 + - /Tag calib markers (filtered)1 + - /Tag calib markers (filtered)1/Namespaces1 + Splitter Ratio: 0.5411558747291565 + Tree Height: 794 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Raw Pointcloud +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 226; 226; 226 + 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: 20 + Reference Frame: + Value: true + - Alpha: 0.5 + Cell Size: 0.13500000536441803 + Class: rviz_default_plugins/Grid + Color: 226; 226; 226 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid Template + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: YZ + Plane Cell Count: 6 + Reference Frame: + Value: false + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 1 + Name: Axes + Radius: 0.10000000149011612 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/camera/camera1/image_raw + Value: false + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: Camera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera1/image_raw + Value: false + Visibility: + (Before Transformed) Edge Pointcloud: true + (Optimized) Binary Transformed Points: true + (Optimized) Transformed Point: true + Axes: true + Boundary Points: true + "Cluster info: detail code": true + "Cluster info: size": true + Clusters: true + Colored Cluster: true + Estimated Corners (PCA): true + Filled Cluster B&W: true + Filled Clusters: true + Grid: true + Grid Template: true + ID: true + Image: true + Initial Corners: true + Initial Transformed Points: true + Initial guess Corners: true + Intersection Markers: true + Marker: true + MarkerArray (Unused): true + PointCloud2: true + Points of Interest: true + Raw Pointcloud: true + Tag Frame: true + Tag calib markers (filtered): true + Tag calib markers (unfiltered): true + Template Frame: true + Template Points: true + Value: true + edges1: true + edges2: true + edges3: true + edges4: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 110 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Raw Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/xt32/pointcloud_raw + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 78 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points of Interest + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/whole_edged_pc + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 49 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: Clusters + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/cluster_edge_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 89 + Min Color: 0; 0; 0 + Min Intensity: 2 + Name: Filled Clusters + Position Transformer: XYZ + Selectable: true + Size (Pixels): 4 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/detected_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Filled Clusters + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/boundary_marker + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Filled Cluster B&W + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/cluster_marker + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 77 + Min Color: 0; 0; 0 + Min Intensity: 27 + Name: Boundary Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Boxes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/boundary_pts + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Estimated Corners (PCA) + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.05000000074505806 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/transformed_points_tag + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 50 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: Initial guess Corners + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Spheres + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/transformed_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 93 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial Transformed Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/initial_template_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: true + Name: Tag Frame + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/tag_frame + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ID + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/id_markers + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 98 + Min Color: 0; 0; 0 + Min Intensity: 1 + Name: (Optimized) Transformed Point + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/template_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 95 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: (Optimized) Binary Transformed Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/template_points_3d + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 200 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: Template Points + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/associated_pattern_3d + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Template Frame + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/ideal_frame + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: MarkerArray (Unused) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/detail_valid_marker + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: (Before Transformed) Edge Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.029999999329447746 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/before_transformed_edge_pc + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection Markers + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/intesection_markers + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: -999999 + Min Color: 0; 0; 0 + Min Intensity: 999999 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/lidartag_cluster_points + Use Fixed Frame: true + Use rainbow: true + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.5 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/lidartag_cluster_edge_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: "Cluster info: detail code" + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/cluster_buff_index_number_markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: "Cluster info: size" + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/cluster_buff_points_size_markers + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Colored Cluster + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.03999999910593033 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/colored_cluster_buff + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/top_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/top_boundary_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/left_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/left_boundary_corner + Value: 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_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 50 + Min Color: 0; 0; 0 + Min Intensity: 50 + Name: PointCloud2 + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/transformed_points + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/camera1/camera_link/lidartag/down_corner + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + 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- Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.48444443941116333 + Tree Height: 719 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Pointcloud +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 5 + Class: rviz_default_plugins/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: 100 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 0.5 + Name: Axes + Radius: 0.05000000074505806 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.800000011920929 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 93 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: 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+ Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 1 + Color: 30; 144; 255 + CAR: + Alpha: 1 + Color: 30; 144; 255 + CYCLIST: + Alpha: 1 + Color: 30; 144; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 1 + Color: 30; 144; 255 + Name: Fusion + Namespaces: + label: true + shape: true + twist: true + velocity: true + PEDESTRIAN: + Alpha: 1 + Color: 30; 144; 255 + Polygon Type: 3d + TRAILER: + Alpha: 1 + Color: 30; 144; 255 + TRUCK: + Alpha: 1 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 1 + Color: 30; 144; 255 + Value: true + Visualization Type: Normal + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: lidar + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: 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"MinimizedDockWidgetsToolbar": { + "repr": "8", + "type": "repr" + } + }, + "groups": {} + } + } + }, + "pluginmanager": { + "keys": { + "running-plugins": { + "repr": "{'rqt_image_view/ImageView': [1, 2]}", + "type": "repr" + } + }, + "groups": { + "plugin__rqt_image_view__ImageView__1": { + "keys": {}, + "groups": { + "dock_widget__ImageViewWidget": { + "keys": { + "dock_widget_title": { + "repr": "'Image View'", + "type": "repr" + }, + "dockable": { + "repr": "True", + "type": "repr" + }, + "parent": { + "repr": "None", + "type": "repr" + } + }, + "groups": {} + }, + "plugin": { + "keys": { + "color_scheme": { + "repr": "-1", + "type": "repr" + }, + "dynamic_range": { + "repr": "False", + "type": "repr" + }, + "max_range": { + "repr": "10.0", + "type": "repr" + }, + "mouse_pub_topic": { + "repr": "'/perception/object_recognition/detection/rois0/debug/image/compressed_mouse_left'", + "type": "repr" + }, + "num_gridlines": { + "repr": "0", + "type": "repr" + }, + "publish_click_location": { + "repr": "False", + "type": "repr" + }, + "rotate": { + "repr": "0", + "type": "repr" + }, + "smooth_image": { + "repr": "False", + "type": "repr" + }, + "toolbar_hidden": { + "repr": "False", + "type": "repr" + }, + "topic": { + "repr": "'/perception/object_recognition/detection/rois0/debug/image/compressed'", + "type": "repr" + }, + "zoom1": { + "repr": "False", + "type": "repr" + } + }, + "groups": {} + } + } + }, + "plugin__rqt_image_view__ImageView__2": { + "keys": {}, + "groups": { + "dock_widget__ImageViewWidget": { + "keys": { + "dock_widget_title": { + "repr": "'Image View (2)'", + "type": "repr" + }, + "dockable": { + "repr": "True", + "type": "repr" + }, + "parent": { + "repr": "None", + "type": "repr" + } + }, + "groups": {} + }, + "plugin": { + "keys": { + "color_scheme": { + "repr": "-1", + "type": "repr" + }, + "dynamic_range": { + "repr": "False", + "type": "repr" + }, + "max_range": { + "repr": "10.0", + "type": "repr" + }, + "mouse_pub_topic": { + "repr": "'/perception/object_recognition/detection/rois1/debug/image/compressed_mouse_left'", + "type": "repr" + }, + "num_gridlines": { + "repr": "0", + "type": "repr" + }, + "publish_click_location": { + "repr": "False", + "type": "repr" + }, + "rotate": { + "repr": "0", + "type": "repr" + }, + "smooth_image": { + "repr": "False", + "type": "repr" + }, + "toolbar_hidden": { + "repr": "False", + "type": "repr" + }, + "topic": { + "repr": "'/perception/object_recognition/detection/rois1/debug/image/compressed'", + "type": "repr" + }, + "zoom1": { + "repr": "False", + "type": "repr" + } + }, + "groups": {} + } + } + } + } + } + } +} \ No newline at end of file diff --git a/edge_auto_launch/config/visualization/perception_xt32_sample.rviz b/edge_auto_launch/config/visualization/perception_xt32_sample.rviz new file mode 100644 index 0000000..40135b0 --- /dev/null +++ b/edge_auto_launch/config/visualization/perception_xt32_sample.rviz @@ -0,0 +1,287 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 138 + Name: Displays + Property Tree Widget: + Expanded: + - /Pointcloud1 + Splitter Ratio: 0.34330984950065613 + Tree Height: 1740 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Pointcloud +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 5 + Class: rviz_default_plugins/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: 100 + Reference Frame: + Value: true + - Class: rviz_default_plugins/Axes + Enabled: true + Length: 0.5 + Name: Axes + Radius: 0.05000000074505806 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.800000011920929 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Pointcloud + Position Transformer: XYZ + Selectable: true + Size (Pixels): 2 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/xt32/pointcloud_raw + Use Fixed Frame: true + Use rainbow: true + Value: true + - BUS: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + CAR: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.019999999552965164 + MOTORCYCLE: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + Name: EuclideanCluster + Namespaces: + label: true + shape: true + twist: true + velocity: true + PEDESTRIAN: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/detection/euclidean_cluster/objects + UNKNOWN: + Alpha: 0.30000001192092896 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 1 + Color: 30; 144; 255 + CAR: + Alpha: 1 + Color: 30; 144; 255 + CYCLIST: + Alpha: 1 + Color: 30; 144; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 1 + Color: 30; 144; 255 + Name: Fusion + Namespaces: + label: true + shape: true + twist: true + velocity: true + PEDESTRIAN: + Alpha: 1 + Color: 30; 144; 255 + Polygon Type: 3d + TRAILER: + Alpha: 1 + Color: 30; 144; 255 + TRUCK: + Alpha: 1 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 1 + Color: 30; 144; 255 + Value: true + Visualization Type: Normal + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: lidar + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 17.369640350341797 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -0.3781598210334778 + Y: -0.7969066500663757 + Z: 2.003519058227539 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5603983998298645 + Target Frame: + Value: Orbit (rviz_default_plugins) + Yaw: 1.455397605895996 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 2246 + Hide Left Dock: false + Hide Right Dock: true + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 4022 + X: 696 + Y: 3227 diff --git a/edge_auto_launch/config/voxel_grid_based_euclidean_cluster.param.yaml b/edge_auto_launch/config/voxel_grid_based_euclidean_cluster.param.yaml new file mode 100644 index 0000000..27ba5a8 --- /dev/null +++ b/edge_auto_launch/config/voxel_grid_based_euclidean_cluster.param.yaml @@ -0,0 +1,8 @@ +/**: + ros__parameters: + tolerance: 0.7 + voxel_leaf_size: 0.3 + min_points_number_per_voxel: 1 + min_cluster_size: 10 + max_cluster_size: 3000 + use_height: false diff --git a/edge_auto_launch/launch/calibration_extrinsic_at128_sample.launch.xml b/edge_auto_launch/launch/calibration_extrinsic_at128_sample.launch.xml new file mode 100644 index 0000000..270755e --- /dev/null +++ b/edge_auto_launch/launch/calibration_extrinsic_at128_sample.launch.xml @@ -0,0 +1,70 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/calibration_extrinsic_xt32_sample.launch.xml b/edge_auto_launch/launch/calibration_extrinsic_xt32_sample.launch.xml new file mode 100755 index 0000000..1a9db0b --- /dev/null +++ b/edge_auto_launch/launch/calibration_extrinsic_xt32_sample.launch.xml @@ -0,0 +1,68 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/calibration_intrinsic_sample.launch.xml b/edge_auto_launch/launch/calibration_intrinsic_sample.launch.xml new file mode 100644 index 0000000..fc58bac --- /dev/null +++ b/edge_auto_launch/launch/calibration_intrinsic_sample.launch.xml @@ -0,0 +1,7 @@ + + + + + + + diff --git a/edge_auto_launch/launch/component/crop_box_filter.launch.xml b/edge_auto_launch/launch/component/crop_box_filter.launch.xml new file mode 100644 index 0000000..c99fa02 --- /dev/null +++ b/edge_auto_launch/launch/component/crop_box_filter.launch.xml @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/extrinsic_manual_calibrator.launch.xml b/edge_auto_launch/launch/component/extrinsic_manual_calibrator.launch.xml new file mode 100644 index 0000000..6f95ae0 --- /dev/null +++ b/edge_auto_launch/launch/component/extrinsic_manual_calibrator.launch.xml @@ -0,0 +1,31 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/extrinsic_tag_based_calibrator.launch.xml b/edge_auto_launch/launch/component/extrinsic_tag_based_calibrator.launch.xml new file mode 100644 index 0000000..2a4f26c --- /dev/null +++ b/edge_auto_launch/launch/component/extrinsic_tag_based_calibrator.launch.xml @@ -0,0 +1,67 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/hesai_at128.launch.xml b/edge_auto_launch/launch/component/hesai_at128.launch.xml new file mode 100755 index 0000000..b77efd7 --- /dev/null +++ b/edge_auto_launch/launch/component/hesai_at128.launch.xml @@ -0,0 +1,71 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml b/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml new file mode 100755 index 0000000..f63b2c5 --- /dev/null +++ b/edge_auto_launch/launch/component/hesai_pandar_xt32.launch.xml @@ -0,0 +1,75 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/intrinsic_camera_calibrator.launch.xml b/edge_auto_launch/launch/component/intrinsic_camera_calibrator.launch.xml new file mode 100644 index 0000000..ae68136 --- /dev/null +++ b/edge_auto_launch/launch/component/intrinsic_camera_calibrator.launch.xml @@ -0,0 +1,5 @@ + + + + + diff --git a/edge_auto_launch/launch/component/lidar_camera_tf_publisher.launch.py b/edge_auto_launch/launch/component/lidar_camera_tf_publisher.launch.py new file mode 100644 index 0000000..e5e3abf --- /dev/null +++ b/edge_auto_launch/launch/component/lidar_camera_tf_publisher.launch.py @@ -0,0 +1,54 @@ +from launch import LaunchDescription +from launch.actions import DeclareLaunchArgument +from launch.actions import OpaqueFunction +from launch.substitutions import LaunchConfiguration +from launch_ros.actions import Node +import json + +def launch_setup(context, *args, **kwargs): + tf_file = LaunchConfiguration('tf_file_path').perform(context) + with open(tf_file, 'r') as f: + tf_data = json.load(f) + + return [ + Node( + name="lidar_camera_tf_publisher", + package='tf2_ros', + executable='static_transform_publisher', + arguments=[ + '--x', str(tf_data['transform']['translation']['x']), + '--y', str(tf_data['transform']['translation']['y']), + '--z', str(tf_data['transform']['translation']['z']), + '--qx', str(tf_data['transform']['rotation']['x']), + '--qy', str(tf_data['transform']['rotation']['y']), + '--qz', str(tf_data['transform']['rotation']['z']), + '--qw', str(tf_data['transform']['rotation']['w']), + '--frame-id', str(tf_data['header']['frame_id']), + '--child-frame-id', str(tf_data['child_frame_id']) + ]), + Node( + name="camera_optical_link_publisher", + package='tf2_ros', + executable='static_transform_publisher', + arguments=[ + '--x', '0.0', + '--y', '0.0', + '--z', '0.0', + '--qx', '0.5', + '--qy', '-0.5', + '--qz', '0.5', + '--qw', '-0.5', + '--frame-id', str(tf_data['child_frame_id']), + '--child-frame-id', str(tf_data['child_frame_id'].replace('camera_link', + 'camera_optical_link')) + ]) + ] + +def generate_launch_description(): + return LaunchDescription( + [ + DeclareLaunchArgument("tf_file_path"), + OpaqueFunction(function=launch_setup), + ] + ) + diff --git a/edge_auto_launch/launch/component/lidar_centerpoint.launch.xml b/edge_auto_launch/launch/component/lidar_centerpoint.launch.xml new file mode 100644 index 0000000..4c08972 --- /dev/null +++ b/edge_auto_launch/launch/component/lidar_centerpoint.launch.xml @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/roi_cluster_fusion.launch.xml b/edge_auto_launch/launch/component/roi_cluster_fusion.launch.xml new file mode 100644 index 0000000..1f4a916 --- /dev/null +++ b/edge_auto_launch/launch/component/roi_cluster_fusion.launch.xml @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml b/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml new file mode 100644 index 0000000..c3d0267 --- /dev/null +++ b/edge_auto_launch/launch/component/roi_detected_objects_fusion.launch.xml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/scan_ground_filter.launch.xml b/edge_auto_launch/launch/component/scan_ground_filter.launch.xml new file mode 100644 index 0000000..0126e5b --- /dev/null +++ b/edge_auto_launch/launch/component/scan_ground_filter.launch.xml @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/voxel_downsample_filter.launch.xml b/edge_auto_launch/launch/component/voxel_downsample_filter.launch.xml new file mode 100644 index 0000000..47895b9 --- /dev/null +++ b/edge_auto_launch/launch/component/voxel_downsample_filter.launch.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/component/voxel_grid_based_euclidean_cluster.launch.xml b/edge_auto_launch/launch/component/voxel_grid_based_euclidean_cluster.launch.xml new file mode 100644 index 0000000..0755265 --- /dev/null +++ b/edge_auto_launch/launch/component/voxel_grid_based_euclidean_cluster.launch.xml @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/perception_at128_sample.launch.xml b/edge_auto_launch/launch/perception_at128_sample.launch.xml new file mode 100644 index 0000000..9a1ebd0 --- /dev/null +++ b/edge_auto_launch/launch/perception_at128_sample.launch.xml @@ -0,0 +1,80 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/launch/perception_xt32_sample.launch.xml b/edge_auto_launch/launch/perception_xt32_sample.launch.xml new file mode 100755 index 0000000..d0b4320 --- /dev/null +++ b/edge_auto_launch/launch/perception_xt32_sample.launch.xml @@ -0,0 +1,97 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/edge_auto_launch/package.xml b/edge_auto_launch/package.xml new file mode 100644 index 0000000..5bdc229 --- /dev/null +++ b/edge_auto_launch/package.xml @@ -0,0 +1,38 @@ + + + + edge_auto_launch + 0.1.0 + The package for meta-package for edge-auto launchers + + Akihito OHSATO + Apache License 2.0 + + ament_cmake_auto + + autoware_perception_rviz_plugin + autoware_pointcloud_preprocessor + detected_object_feature_remover + euclidean_cluster + extrinsic_calibration_manager + extrinsic_manual_calibrator + tag_based_pnp_calibrator + autoware_ground_segmentation + intrinsic_camera_calibrator + autoware_lidar_centerpoint + nebula_sensor_driver + rviz2 + autoware_shape_estimation + autoware_vehicle_info_utils + autoware_image_transport_decompressor + individual_params + autoware_image_projection_based_fusion + sensor_calibration_tools + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 0000000..5214751 --- /dev/null +++ b/setup.cfg @@ -0,0 +1,15 @@ +[flake8] +# Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini +extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000 +import-order-style = pep8 +max-line-length = 100 +show-source = true +statistics = true + +[isort] +profile=black +line_length=100 +force_sort_within_sections=true +force_single_line=true +reverse_relative=true +known_third_party=launch