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Update default topics

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This commit is contained in:
John Zhao 2018-06-07 12:45:23 +08:00
parent 0286da50c6
commit 87458482d9
6 changed files with 31 additions and 31 deletions
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2
tools/README.md
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@ -69,7 +69,7 @@ roslaunch mynt_eye_ros_wrapper mynteye.launch
``` ```
```bash ```bash
rosbag record -O mynteye.bag /mynteye/left /mynteye/imu /mynteye/temp rosbag record -O mynteye.bag /mynteye/left/image_raw /mynteye/imu/data_raw /mynteye/temp/data_raw
``` ```
## Analytics data (rosbag) ## Analytics data (rosbag)

4
tools/analytics/imu_analytics.py
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@ -650,8 +650,8 @@ def _main():
else: else:
dataset = ROSBag( dataset = ROSBag(
path, path,
topic_imu='/mynteye/imu', topic_imu='/mynteye/imu/data_raw',
topic_temp='/mynteye/temp') topic_temp='/mynteye/temp/data_raw')
return dataset return dataset
if args.binary: if args.binary:

4
tools/analytics/stamp_analytics.py
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@ -334,8 +334,8 @@ def _main():
sys.exit('Error: dataset model not supported {}'.format(model)) sys.exit('Error: dataset model not supported {}'.format(model))
else: else:
dataset = ROSBag(path, dataset = ROSBag(path,
topic_img_left='/mynteye/left', topic_img_left='/mynteye/left/image_raw',
topic_imu='/mynteye/imu') topic_imu='/mynteye/imu/data_raw')
return dataset return dataset
dataset = BinDataset(dataset_path, dataset_creator) dataset = BinDataset(dataset_path, dataset_creator)

8
tools/config/mynteye/mynteye_config.yaml
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@ -3,7 +3,7 @@ dataset: "mynteye"
# rosbag config # rosbag config
rosbag: rosbag:
topic_img_left: "/mynteye/left" topic_img_left: "/mynteye/left/image_raw"
topic_img_right: "/mynteye/right" topic_img_right: "/mynteye/right/image_raw"
topic_imu: "/mynteye/imu" topic_imu: "/mynteye/imu/data_raw"
topic_temp: "/mynteye/temp" topic_temp: "/mynteye/temp/data_raw"

20
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
View File

@ -4,17 +4,17 @@
<!-- node params --> <!-- node params -->
<arg name="left_topic" default="left" /> <arg name="left_topic" default="left/image_raw" />
<arg name="right_topic" default="right" /> <arg name="right_topic" default="right/image_raw" />
<arg name="left_rect_topic" default="left_rect" /> <arg name="left_rect_topic" default="left/image_rect" />
<arg name="right_rect_topic" default="right_rect" /> <arg name="right_rect_topic" default="right/image_rect" />
<arg name="disparity_topic" default="disparity" /> <arg name="disparity_topic" default="disparity/image_raw" />
<arg name="disparity_norm_topic" default="disparity_norm" /> <arg name="disparity_norm_topic" default="disparity/image_norm" />
<arg name="points_topic" default="points" /> <arg name="depth_topic" default="depth/image_raw" />
<arg name="depth_topic" default="depth" /> <arg name="points_topic" default="points/data_raw" />
<arg name="imu_topic" default="imu" /> <arg name="imu_topic" default="imu/data_raw" />
<arg name="temp_topic" default="temp" /> <arg name="temp_topic" default="temp/data_raw" />
<arg name="base_frame_id" default="$(arg mynteye)_link" /> <arg name="base_frame_id" default="$(arg mynteye)_link" />
<arg name="left_frame_id" default="$(arg mynteye)_left_frame" /> <arg name="left_frame_id" default="$(arg mynteye)_left_frame" />

24
wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
View File

@ -55,7 +55,7 @@ Visualization Manager:
Displays: Displays:
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/left Image Topic: /mynteye/left/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@ -67,7 +67,7 @@ Visualization Manager:
Value: true Value: true
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/right Image Topic: /mynteye/right/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@ -81,7 +81,7 @@ Visualization Manager:
Displays: Displays:
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/left_rect Image Topic: /mynteye/left/image_rect
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@ -93,7 +93,7 @@ Visualization Manager:
Value: true Value: true
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/right_rect Image Topic: /mynteye/right/image_rect
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@ -111,7 +111,7 @@ Visualization Manager:
Displays: Displays:
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/disparity Image Topic: /mynteye/disparity/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@ -123,7 +123,7 @@ Visualization Manager:
Value: true Value: true
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/disparity_norm Image Topic: /mynteye/disparity/image_norm
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@ -137,7 +137,7 @@ Visualization Manager:
Name: Disparity Name: Disparity
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: true
Image Topic: /mynteye/depth Image Topic: /mynteye/depth/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
Min Value: 0 Min Value: 0
@ -157,7 +157,7 @@ Visualization Manager:
Channel Name: intensity Channel Name: intensity
Class: rviz/PointCloud2 Class: rviz/PointCloud2
Color: 255; 255; 255 Color: 255; 255; 255
Color Transformer: "" Color Transformer: RGB8
Decay Time: 0 Decay Time: 0
Enabled: true Enabled: true
Invert Rainbow: false Invert Rainbow: false
@ -166,13 +166,13 @@ Visualization Manager:
Min Color: 0; 0; 0 Min Color: 0; 0; 0
Min Intensity: 0 Min Intensity: 0
Name: Points Name: Points
Position Transformer: "" Position Transformer: XYZ
Queue Size: 10 Queue Size: 10
Selectable: true Selectable: true
Size (Pixels): 3 Size (Pixels): 3
Size (m): 0.00999999978 Size (m): 0.00999999978
Style: Flat Squares Style: Flat Squares
Topic: /mynteye/points Topic: /mynteye/points/data_raw
Unreliable: false Unreliable: false
Use Fixed Frame: true Use Fixed Frame: true
Use rainbow: true Use rainbow: true
@ -183,7 +183,7 @@ Visualization Manager:
Enabled: false Enabled: false
History Length: 1 History Length: 1
Name: Imu Name: Imu
Topic: /mynteye/imu Topic: /mynteye/imu/data_raw
Unreliable: false Unreliable: false
Value: false Value: false
Enabled: true Enabled: true
@ -247,7 +247,7 @@ Window Geometry:
collapsed: false collapsed: false
LeftRect: LeftRect:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000040c000000860000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000001bc000002170000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000017e00000396fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000040c000000860000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000001bc000002170000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004a60000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Right: Right:
collapsed: false collapsed: false
RightRect: RightRect: