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This commit is contained in:
Timo Schneider
2026-01-11 15:51:19 +01:00
parent cc321533fc
commit edf5da50ed
1 changed files with 60 additions and 95 deletions
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155
tracking.rviz
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@@ -6,11 +6,9 @@ Panels:
Expanded: Expanded:
- /Global Options1 - /Global Options1
- /Status1 - /Status1
- /PointCloud29/Topic1 - /Merged1/Topic1
- /PointStamped1
- /PointStamped1/Topic1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 720 Tree Height: 789
- Class: rviz_common/Selection - Class: rviz_common/Selection
Name: Selection Name: Selection
- Class: rviz_common/Tool Properties - Class: rviz_common/Tool Properties
@@ -28,7 +26,7 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: PointCloud2 SyncSource: Cluster0
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
@@ -79,7 +77,7 @@ Visualization Manager:
Max Intensity: 100 Max Intensity: 100
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 1 Min Intensity: 1
Name: PointCloud2 Name: Cluster0
Position Transformer: XYZ Position Transformer: XYZ
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
@@ -112,7 +110,7 @@ Visualization Manager:
Max Intensity: 0 Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: PointCloud2 Name: Cluster1
Position Transformer: XYZ Position Transformer: XYZ
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
@@ -145,7 +143,7 @@ Visualization Manager:
Max Intensity: 0 Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: PointCloud2 Name: Cluster2
Position Transformer: XYZ Position Transformer: XYZ
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
@@ -178,7 +176,7 @@ Visualization Manager:
Max Intensity: 0 Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: PointCloud2 Name: Cluster3
Position Transformer: XYZ Position Transformer: XYZ
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
@@ -211,7 +209,7 @@ Visualization Manager:
Max Intensity: 0 Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: PointCloud2 Name: Cluster4
Position Transformer: XYZ Position Transformer: XYZ
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
@@ -235,8 +233,8 @@ Visualization Manager:
Axis: Z Axis: Z
Channel Name: intensity Channel Name: intensity
Class: rviz_default_plugins/PointCloud2 Class: rviz_default_plugins/PointCloud2
Color: 85; 0; 127 Color: 255; 255; 255
Color Transformer: FlatColor Color Transformer: Intensity
Decay Time: 0 Decay Time: 0
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
@@ -244,7 +242,7 @@ Visualization Manager:
Max Intensity: 0 Max Intensity: 0
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: PointCloud2 Name: Cluster5
Position Transformer: XYZ Position Transformer: XYZ
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
@@ -274,81 +272,15 @@ Visualization Manager:
Enabled: false Enabled: false
Invert Rainbow: false Invert Rainbow: false
Max Color: 255; 255; 255 Max Color: 255; 255; 255
Max Intensity: 166 Max Intensity: 255
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: PointCloud2 Name: Merged
Position Transformer: XYZ Position Transformer: XYZ
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
Size (m): 0.009999999776482582 Size (m): 0.009999999776482582
Style: Flat Squares Style: Points
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
Topic: Topic:
Depth: 5 Depth: 5
Durability Policy: Volatile Durability Policy: Volatile
@@ -356,14 +288,47 @@ Visualization Manager:
Reliability Policy: Best Effort Reliability Policy: Best Effort
Value: /lidar/merged/points Value: /lidar/merged/points
Use Fixed Frame: true Use Fixed Frame: true
Use rainbow: true Use rainbow: false
Value: 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 - Alpha: 1
Class: rviz_default_plugins/PointStamped Class: rviz_default_plugins/PointStamped
Color: 255; 255; 255 Color: 255; 255; 255
Enabled: true Enabled: true
History Length: 1 History Length: 1
Name: PointStamped Name: Target
Radius: 0.10000000149011612 Radius: 0.10000000149011612
Topic: Topic:
Depth: 5 Depth: 5
@@ -419,33 +384,33 @@ Visualization Manager:
Views: Views:
Current: Current:
Class: rviz_default_plugins/Orbit Class: rviz_default_plugins/Orbit
Distance: 20.069171905517578 Distance: 7.419111251831055
Enable Stereo Rendering: Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549 Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1 Stereo Focal Distance: 1
Swap Stereo Eyes: false Swap Stereo Eyes: false
Value: false Value: false
Focal Point: Focal Point:
X: 2.547194004058838 X: 3.313748836517334
Y: 0.8107800483703613 Y: -0.11149537563323975
Z: -0.0785689651966095 Z: -0.589261531829834
Focal Shape Fixed Size: true Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806 Focal Shape Size: 0.05000000074505806
Invert Z Axis: false Invert Z Axis: false
Name: Current View Name: Current View
Near Clip Distance: 0.009999999776482582 Near Clip Distance: 0.009999999776482582
Pitch: 0.8897970914840698 Pitch: 0.635202944278717
Target Frame: <Fixed Frame> Target Frame: <Fixed Frame>
Value: Orbit (rviz_default_plugins) Value: Orbit (rviz_default_plugins)
Yaw: 3.055371046066284 Yaw: 3.1103579998016357
Saved: ~ Saved: ~
Window Geometry: Window Geometry:
Displays: Displays:
collapsed: false collapsed: false
Height: 1011 Height: 1080
Hide Left Dock: false Hide Left Dock: false
Hide Right Dock: false Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000015600000359fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000359000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003b40000003efc0100000002fb0000000800540069006d00650100000000000003b40000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000002580000035900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd0000000400000000000001560000039efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000039e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650100000000000007800000025300fffffffb0000000800540069006d00650100000000000004500000000000000000000006240000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection: Selection:
collapsed: false collapsed: false
Time: Time:
@@ -454,6 +419,6 @@ Window Geometry:
collapsed: false collapsed: false
Views: Views:
collapsed: false collapsed: false
Width: 948 Width: 1920
X: 1927 X: 1920
Y: 62 Y: 0