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feat: add mesh to rviz.

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This commit is contained in:
TinyOh 2019-03-20 11:29:18 +08:00
parent 15464160f6
commit 98589a5753
5 changed files with 130687 additions and 20 deletions
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2
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -33,7 +33,7 @@
<arg name="gravity" default="9.8" /> <arg name="gravity" default="9.8" />
<arg name="mesh_file" default="S1030-0315.STL" /> <arg name="mesh_file" default="S1030-0315.obj" />
<!-- stream toggles --> <!-- stream toggles -->

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wrappers/ros/src/mynt_eye_ros_wrapper/mesh/S1030-0315.STL
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130659
wrappers/ros/src/mynt_eye_ros_wrapper/mesh/S1030-0315.obj Normal file
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19
wrappers/ros/src/mynt_eye_ros_wrapper/rviz/mynteye.rviz
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@ -9,6 +9,7 @@ Panels:
- /Images1 - /Images1
- /Images1/Rectified1 - /Images1/Rectified1
- /Disparity1 - /Disparity1
- /Marker1
Splitter Ratio: 0.5 Splitter Ratio: 0.5
Tree Height: 824 Tree Height: 824
- Class: rviz/Selection - Class: rviz/Selection
@ -29,7 +30,7 @@ Panels:
Experimental: false Experimental: false
Name: Time Name: Time
SyncMode: 0 SyncMode: 0
SyncSource: Depth SyncSource: Points
Visualization Manager: Visualization Manager:
Class: "" Class: ""
Displays: Displays:
@ -133,10 +134,10 @@ Visualization Manager:
Transport Hint: raw Transport Hint: raw
Unreliable: false Unreliable: false
Value: true Value: true
Enabled: false Enabled: true
Name: Disparity Name: Disparity
- Class: rviz/Image - Class: rviz/Image
Enabled: true Enabled: false
Image Topic: /mynteye/depth/image_raw Image Topic: /mynteye/depth/image_raw
Max Value: 1 Max Value: 1
Median window: 5 Median window: 5
@ -146,7 +147,7 @@ Visualization Manager:
Queue Size: 1 Queue Size: 1
Transport Hint: raw Transport Hint: raw
Unreliable: false Unreliable: false
Value: true Value: false
- Alpha: 1 - Alpha: 1
Autocompute Intensity Bounds: true Autocompute Intensity Bounds: true
Autocompute Value Bounds: Autocompute Value Bounds:
@ -186,6 +187,14 @@ Visualization Manager:
Topic: /mynteye/imu/data_raw Topic: /mynteye/imu/data_raw
Unreliable: false Unreliable: false
Value: false Value: false
- Class: rviz/Marker
Enabled: true
Marker Topic: /mynteye/camera_mesh
Name: Marker
Namespaces:
"": true
Queue Size: 100
Value: true
Enabled: true Enabled: true
Global Options: Global Options:
Background Color: 48; 48; 48 Background Color: 48; 48; 48
@ -247,7 +256,7 @@ Window Geometry:
collapsed: false collapsed: false
LeftRect: LeftRect:
collapsed: false collapsed: false
QMainWindow State: 000000ff00000000fd00000004000000000000026500000378fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000378000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000038d000001dc0000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006803000002160000024c0000024f00000190fb0000001200440069007300700061007200690074007902000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d020000040c000002170000025100000190000000010000010f00000378fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000378000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003bf0000037800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 QMainWindow State: 000000ff00000000fd00000004000000000000026500000378fc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000378000000d600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000008004c00650066007403000001bd000000860000024e00000190fb0000000a00520069006700680074030000038d000001dc0000025000000190fb00000010004c006500660074005200650063007402000001bd000002170000024e00000190fb00000012005200690067006800740052006500630074020000040c000002170000024f00000190fb0000000a0044006500700074006802000002160000024c0000024f00000190fb0000001200440069007300700061007200690074007903000001bd000002170000024e0000018ffb0000001a004400690073007000610072006900740079004e006f0072006d030000040c000002170000025100000190000000010000010f00000378fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000378000000ac00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003bf0000037800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Right: Right:
collapsed: false collapsed: false
RightRect: RightRect:

27
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -348,15 +348,15 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
sensor_msgs::Temperature>(temperature_topic, 100); sensor_msgs::Temperature>(temperature_topic, 100);
NODELET_INFO_STREAM("Advertized on topic " << temperature_topic); NODELET_INFO_STREAM("Advertized on topic " << temperature_topic);
// pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 ); pub_mesh_ = nh_.advertise<visualization_msgs::Marker>("camera_mesh", 0 );
// // where to get the mesh from // where to get the mesh from
// std::string mesh_file; std::string mesh_file;
// if (private_nh_.getParam("mesh_file", mesh_file)) { if (private_nh_.getParam("mesh_file", mesh_file)) {
// mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file; mesh_msg_.mesh_resource = "package://mynt_eye_ros_wrapper/mesh/"+mesh_file;
// } else { } else {
// LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired"; LOG(INFO) << "no mesh found for visualisation, set ros param mesh_file, if desired";
// mesh_msg_.mesh_resource = ""; mesh_msg_.mesh_resource = "";
// } }
// stream toggles // stream toggles
@ -623,8 +623,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
} }
void publishTopics() { void publishTopics() {
// publishMesh(); publishMesh();
if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 || if ((camera_publishers_[Stream::LEFT].getNumSubscribers() > 0 ||
mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) && mono_publishers_[Stream::LEFT].getNumSubscribers() > 0) &&
!is_published_[Stream::LEFT]) { !is_published_[Stream::LEFT]) {
@ -1169,9 +1168,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_msg_.pose.orientation.w = 0; mesh_msg_.pose.orientation.w = 0;
// fill position // fill position
mesh_msg_.pose.position.x = -0.25; mesh_msg_.pose.position.x = 0;
mesh_msg_.pose.position.y = -0.05; mesh_msg_.pose.position.y = 0;
mesh_msg_.pose.position.z = -0.1; mesh_msg_.pose.position.z = 0;
// scale -- needed // scale -- needed
mesh_msg_.scale.x = 0.003; mesh_msg_.scale.x = 0.003;