mirror of
https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
Added Image display in rgbd.rviz
rviz plugin: fixed assertion on Ogre::AxisAlignedBox: Assertion "(min.x <= max.x && min.y <= max.y && min.z <= max.z) && The minimum corner of the box must be less than or equal to maximum corner" rviz plugin: added node_filtering_radius and node_filtering_angle properties for cloud filtering rtabmap-ros: added set_mode_localization and set_mode_mapping services git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1489 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
+35
-54
@@ -6,8 +6,9 @@ Panels:
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Expanded:
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- /Global Options1
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- /TF1/Frames1
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- /MapCloud1/Status1
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Splitter Ratio: 0.411058
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Tree Height: 518
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Tree Height: 422
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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@@ -81,10 +82,6 @@ Visualization Manager:
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Frame Timeout: 15
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Frames:
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All Enabled: false
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base_footprint:
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Value: true
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base_laser_link:
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Value: true
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base_link:
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Value: true
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camera_depth_frame:
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@@ -101,22 +98,6 @@ Visualization Manager:
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Value: true
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odom:
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Value: true
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wheelLB_linkWheel_link:
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Value: true
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wheelLB_wheel_link:
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Value: true
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wheelLF_linkWheel_link:
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Value: true
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wheelLF_wheel_link:
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Value: true
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wheelRB_linkWheel_link:
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Value: true
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wheelRB_wheel_link:
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Value: true
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wheelRF_linkWheel_link:
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Value: true
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wheelRF_wheel_link:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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@@ -125,28 +106,13 @@ Visualization Manager:
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Tree:
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map:
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odom:
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base_footprint:
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base_link:
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base_laser_link:
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{}
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camera_link:
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camera_depth_frame:
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camera_depth_optical_frame:
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{}
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camera_rgb_frame:
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camera_rgb_optical_frame:
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{}
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wheelLB_linkWheel_link:
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wheelLB_wheel_link:
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base_link:
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camera_link:
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camera_depth_frame:
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camera_depth_optical_frame:
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{}
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wheelLF_linkWheel_link:
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wheelLF_wheel_link:
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{}
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wheelRB_linkWheel_link:
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wheelRB_wheel_link:
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{}
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wheelRF_linkWheel_link:
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wheelRF_wheel_link:
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camera_rgb_frame:
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camera_rgb_optical_frame:
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{}
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Update Interval: 0
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Value: true
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@@ -183,9 +149,20 @@ Visualization Manager:
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Class: rviz/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Enabled: false
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Name: Map
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Topic: /rtabmap/grid_map
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Value: false
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- Class: rviz/Image
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Enabled: true
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Image Topic: /camera/rgb/image_rect_color
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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@@ -198,7 +175,7 @@ Visualization Manager:
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Class: rtabmap/MapCloud
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Cloud decimation: 4
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Cloud max depth (m): 4
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Cloud voxel size (m): 0.02
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Cloud voxel size (m): 0.01
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Color: 255; 255; 255
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Color Transformer: RGB8
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Download map: false
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@@ -209,6 +186,8 @@ Visualization Manager:
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: MapCloud
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Node filtering angle (degrees): 30
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Node filtering radius (m): 0.1
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Position Transformer: XYZ
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Size (Pixels): 3
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Size (m): 0.01
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@@ -237,30 +216,32 @@ Visualization Manager:
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 12.2587
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Distance: 6.35253
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.06
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 2.34873
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Y: 0.212305
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Z: -2.50326
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X: 1.14572
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Y: 0.168097
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Z: -1.13136
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Name: Current View
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Near Clip Distance: 0.01
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Pitch: 0.939797
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Pitch: 0.879797
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Target Frame: base_link
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Value: Orbit (rviz)
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Yaw: 3.45419
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Yaw: 3.73418
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 691
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Height: 824
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001b200000295fc0200000006fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000295000000dd00fffffffb0000000a0049006d00610067006501000002b1000000c70000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003410000029500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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Image:
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collapsed: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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@@ -270,5 +251,5 @@ Window Geometry:
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Views:
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collapsed: false
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Width: 1273
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X: 121
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Y: 201
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X: 100
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Y: 115
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