Skip to content

Commit

Permalink
(Minor) Update rviz for ground segmentation
Browse files Browse the repository at this point in the history
  • Loading branch information
@LimHyungTae
LimHyungTae committed Dec 23, 2022
1 parent 35ab2c1 commit 93b493c
Showing 1 changed file with 163 additions and 99 deletions.
262 changes: 163 additions & 99 deletions rviz/patchwork_viz.rviz
View file
Original file line number Diff line number Diff line change
@@ -7,11 +7,9 @@ Panels:
- /Global Options1
- /Status1
- /Grid1
- /TP1
- /FN1
- /FP1
- /Axes1
- /revert_pc1
- /est_ground1
- /est_ground1/est_ground1
- /est_ground1/est_ground_filtered1
Splitter Ratio: 0.6044568419456482
Tree Height: 467
- Class: rviz/Selection
@@ -29,10 +27,9 @@ Panels:
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: revert_pc
SyncSource: est_ground
Preferences:
PromptSaveOnExit: true
Toolbars:
@@ -93,6 +90,7 @@ Visualization Manager:
Color: 25; 255; 0
Enabled: false
Name: plane_viz
Queue Size: 10
Topic: /gpf/plane
Unreliable: false
Value: false
@@ -101,90 +99,6 @@ Visualization Manager:
normal length: 1
only border: false
show normal: false
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 25; 255; 25
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: TP
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /benchmark/TP
Unreliable: false
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/PointCloud2
Color: 25; 25; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 25; 25; 255
Min Color: 0; 0; 0
Name: FN
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /benchmark/FN
Unreliable: false
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/PointCloud2
Color: 255; 25; 25
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: FP
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /benchmark/FP
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Marker
Enabled: false
Marker Topic: /precision
@@ -201,12 +115,14 @@ Visualization Manager:
{}
Queue Size: 100
Value: false
- Class: rviz/Axes
- Alpha: 1
Class: rviz/Axes
Enabled: true
Length: 1.5
Name: Axes
Radius: 0.15000000596046448
Reference Frame: <Fixed Frame>
Show Trail: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
@@ -264,6 +180,154 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 25; 25
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: FP
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /benchmark/FP
Unreliable: false
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/PointCloud2
Color: 25; 25; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 25; 25; 255
Min Color: 0; 0; 0
Name: FN
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /benchmark/FN
Unreliable: false
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/PointCloud2
Color: 25; 255; 25
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: TP
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.20000000298023224
Style: Flat Squares
Topic: /benchmark/TP
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: false
Name: TFPN
- Class: rviz/Group
Displays:
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 25; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: est_ground
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.10000000149011612
Style: Points
Topic: /estimate/ground
Unreliable: false
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/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: est_ground_filtered
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 4
Size (m): 0.009999999776482582
Style: Points
Topic: /estimate/ground_filtered
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
Enabled: true
Name: est_ground
Enabled: true
Global Options:
Background Color: 48; 48; 48
@@ -292,24 +356,24 @@ Visualization Manager:
Views:
Current:
Class: rviz/Orbit
Distance: 107.94405364990234
Distance: 104.57398223876953
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Field of View: 0.7853981852531433
Focal Point:
X: -1.8628654479980469
Y: -1.9925763607025146
Z: 0.7012021541595459
X: 1.8279075622558594
Y: -13.663610458374023
Z: 0.7048919200897217
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 1.5697963237762451
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.141618013381958
Saved: ~
Window Geometry:
@@ -318,7 +382,7 @@ Window Geometry:
Height: 759
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001c10000025efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000025e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000372fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000372000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056d00000039fc0100000002fb0000000800540069006d006501000000000000056d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003a60000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000001c10000025efc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000025e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000372fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000372000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000056d00000039fc0100000002fb0000000800540069006d006501000000000000056d000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003a60000025e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
@@ -329,4 +393,4 @@ Window Geometry:
collapsed: true
Width: 1389
X: 531
Y: 194
Y: 120

0 comments on commit 93b493c

Please sign in to comment.