diff --git a/tracking.rviz b/tracking.rviz index aa4ea91..7da7ad2 100644 --- a/tracking.rviz +++ b/tracking.rviz @@ -6,11 +6,9 @@ Panels: Expanded: - /Global Options1 - /Status1 - - /PointCloud29/Topic1 - - /PointStamped1 - - /PointStamped1/Topic1 + - /Merged1/Topic1 Splitter Ratio: 0.5 - Tree Height: 720 + Tree Height: 789 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -28,7 +26,7 @@ Panels: Experimental: false Name: Time SyncMode: 0 - SyncSource: PointCloud2 + SyncSource: Cluster0 Visualization Manager: Class: "" Displays: @@ -79,7 +77,7 @@ Visualization Manager: Max Intensity: 100 Min Color: 0; 0; 0 Min Intensity: 1 - Name: PointCloud2 + Name: Cluster0 Position Transformer: XYZ Selectable: true Size (Pixels): 3 @@ -112,7 +110,7 @@ Visualization Manager: Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 - Name: PointCloud2 + Name: Cluster1 Position Transformer: XYZ Selectable: true Size (Pixels): 3 @@ -145,7 +143,7 @@ Visualization Manager: Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 - Name: PointCloud2 + Name: Cluster2 Position Transformer: XYZ Selectable: true Size (Pixels): 3 @@ -178,7 +176,7 @@ Visualization Manager: Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 - Name: PointCloud2 + Name: Cluster3 Position Transformer: XYZ Selectable: true Size (Pixels): 3 @@ -211,7 +209,7 @@ Visualization Manager: Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 - Name: PointCloud2 + Name: Cluster4 Position Transformer: XYZ Selectable: true Size (Pixels): 3 @@ -235,8 +233,8 @@ Visualization Manager: Axis: Z Channel Name: intensity Class: rviz_default_plugins/PointCloud2 - Color: 85; 0; 127 - Color Transformer: FlatColor + Color: 255; 255; 255 + Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false @@ -244,7 +242,7 @@ Visualization Manager: Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 0 - Name: PointCloud2 + Name: Cluster5 Position Transformer: XYZ Selectable: true Size (Pixels): 3 @@ -274,81 +272,15 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 166 + Max Intensity: 255 Min Color: 0; 0; 0 Min Intensity: 0 - Name: PointCloud2 + Name: Merged Position Transformer: XYZ Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /lidar/vlp16/downsampled - 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: 154 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /lidar/mid40/downsampled - 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: 154 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Selectable: true - Size (Pixels): 3 - Size (m): 0.009999999776482582 - Style: Flat Squares + Style: Points Topic: Depth: 5 Durability Policy: Volatile @@ -356,14 +288,47 @@ Visualization Manager: Reliability Policy: Best Effort Value: /lidar/merged/points Use Fixed Frame: true - Use rainbow: true + Use rainbow: false 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: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Downsampled + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 0.009999999776482582 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /lidar/merged/downsampled + Use Fixed Frame: true + Use rainbow: false + Value: true - Alpha: 1 Class: rviz_default_plugins/PointStamped Color: 255; 255; 255 Enabled: true History Length: 1 - Name: PointStamped + Name: Target Radius: 0.10000000149011612 Topic: Depth: 5 @@ -419,33 +384,33 @@ Visualization Manager: Views: Current: Class: rviz_default_plugins/Orbit - Distance: 20.069171905517578 + Distance: 7.419111251831055 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Focal Point: - X: 2.547194004058838 - Y: 0.8107800483703613 - Z: -0.0785689651966095 + X: 3.313748836517334 + Y: -0.11149537563323975 + Z: -0.589261531829834 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.8897970914840698 + Pitch: 0.635202944278717 Target Frame: Value: Orbit (rviz_default_plugins) - Yaw: 3.055371046066284 + Yaw: 3.1103579998016357 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 1011 + Height: 1080 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000015600000359fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000359000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b40000003efc0100000002fb0000000800540069006d00650100000000000003b40000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000002580000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000039e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -454,6 +419,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 948 - X: 1927 - Y: 62 + Width: 1920 + X: 1920 + Y: 0