Improve grasp visualization

2021-08-17 20:53:03 +02:00
parent 685e41dde2
commit 231e337c0f
2 changed files with 98 additions and 41 deletions
--- a/launch/active_grasp.rviz
+++ b/launch/active_grasp.rviz
@@ -1,14 +1,13 @@
 Panels:
  - Class: rviz/Displays
-    Help Height: 78
+    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
-        - /Grasps1/Status1
-        - /Markers1
+        - /TF1/Frames1
        - /Markers1/Namespaces1
      Splitter Ratio: 0.5
-    Tree Height: 465
+    Tree Height: 543
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
@@ -139,13 +138,13 @@ Visualization Manager:
      Frames:
        All Enabled: false
        camera_optical_frame:
-          Value: false
+          Value: true
        panda_hand:
          Value: true
        panda_leftfinger:
          Value: false
        panda_link0:
-          Value: false
+          Value: true
        panda_link1:
          Value: false
        panda_link2:
@@ -193,6 +192,18 @@ Visualization Manager:
            {}
      Update Interval: 0
      Value: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /camera/depth/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Depth
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
@@ -221,6 +232,36 @@ Visualization Manager:
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: false
+      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: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 1
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: MapCloud
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.007499999832361937
+      Style: Boxes
+      Topic: /map_cloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
    - Alpha: 0.20000000298023224
      Autocompute Intensity Bounds: false
      Autocompute Value Bounds:
@@ -251,23 +292,6 @@ Visualization Manager:
      Use Fixed Frame: true
      Use rainbow: false
      Value: true
-    - Alpha: 1
-      Arrow Length: 0.30000001192092896
-      Axes Length: 0.05000000074505806
-      Axes Radius: 0.009999999776482582
-      Class: rviz/PoseArray
-      Color: 255; 25; 0
-      Enabled: true
-      Head Length: 0.07000000029802322
-      Head Radius: 0.029999999329447746
-      Name: Grasps
-      Queue Size: 10
-      Shaft Length: 0.23000000417232513
-      Shaft Radius: 0.009999999776482582
-      Shape: Axes
-      Topic: /grasps
-      Unreliable: false
-      Value: true
    - Alpha: 1
      Axes Length: 0.05000000074505806
      Axes Radius: 0.009999999776482582
@@ -289,8 +313,12 @@ Visualization Manager:
      Marker Topic: visualization_marker_array
      Name: Markers
      Namespaces:
-        bbox: false
+        bbox: true
+        grasps: true
        path: true
+        point: true
+        rays: true
+        views: true
      Queue Size: 100
      Value: true
  Enabled: true
@@ -321,7 +349,7 @@ Visualization Manager:
  Views:
    Current:
      Class: rviz/Orbit
-      Distance: 1.2231600284576416
+      Distance: 1.4553453922271729
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
@@ -329,25 +357,27 @@ Visualization Manager:
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
-        X: 0.2673089802265167
-        Y: 0.08313889056444168
-        Z: 0.4073459804058075
+        X: 0.43946000933647156
+        Y: 0.016814040020108223
+        Z: 0.40760287642478943
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2547985911369324
+      Pitch: 0.19979602098464966
      Target Frame: <Fixed Frame>
-      Yaw: 5.173501968383789
+      Yaw: 5.38097620010376
    Saved: ~
 Window Geometry:
+  Depth:
+    collapsed: false
  Displays:
    collapsed: false
  Height: 762
  Hide Left Dock: false
  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001560000025cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000025c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004000000003efc0100000002fb0000000800540069006d0065010000000000000400000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002a40000025c00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000025cfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000025c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0044006500700074006800000001e4000000b50000001600ffffff000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004000000003efc0100000002fb0000000800540069006d0065010000000000000400000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002a40000025c00000004000000040000000800000008fc00000002000000020000000000000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
@@ -357,5 +387,5 @@ Window Geometry:
  Views:
    collapsed: true
  Width: 1024
-  X: 208
-  Y: 205
+  X: 1440
+  Y: 268