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fix markers arrows a little
1 parent 929d1e4 commit 6fc334d

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3 files changed

+57
-18
lines changed

3 files changed

+57
-18
lines changed

config/eod_example.rviz

Lines changed: 50 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -3,9 +3,11 @@ Panels:
33
Help Height: 87
44
Name: Displays
55
Property Tree Widget:
6-
Expanded: ~
6+
Expanded:
7+
- /TF1/Status1
8+
- /SimpleObjects1/Status1
79
Splitter Ratio: 0.5
8-
Tree Height: 665
10+
Tree Height: 669
911
- Class: rviz/Selection
1012
Name: Selection
1113
- Class: rviz/Tool Properties
@@ -24,7 +26,7 @@ Panels:
2426
Experimental: false
2527
Name: Time
2628
SyncMode: 0
27-
SyncSource: ""
29+
SyncSource: Detected Image
2830
Preferences:
2931
PromptSaveOnExit: true
3032
Toolbars:
@@ -55,10 +57,30 @@ Visualization Manager:
5557
Frame Timeout: 15
5658
Frames:
5759
All Enabled: true
58-
cam_optical_link:
60+
dai_rgb_optical_frame:
5961
Value: true
6062
map:
6163
Value: true
64+
oak-d-base-frame:
65+
Value: true
66+
oak-d_frame:
67+
Value: true
68+
oak_imu_frame:
69+
Value: true
70+
oak_left_camera_frame:
71+
Value: true
72+
oak_left_camera_optical_frame:
73+
Value: true
74+
oak_model_origin:
75+
Value: true
76+
oak_rgb_camera_frame:
77+
Value: true
78+
oak_rgb_camera_optical_frame:
79+
Value: true
80+
oak_right_camera_frame:
81+
Value: true
82+
oak_right_camera_optical_frame:
83+
Value: true
6284
Marker Alpha: 1
6385
Marker Scale: 1
6486
Name: TF
@@ -67,7 +89,23 @@ Visualization Manager:
6789
Show Names: true
6890
Tree:
6991
map:
70-
{}
92+
dai_rgb_optical_frame:
93+
{}
94+
oak-d-base-frame:
95+
oak-d_frame:
96+
oak_imu_frame:
97+
{}
98+
oak_left_camera_frame:
99+
oak_left_camera_optical_frame:
100+
{}
101+
oak_model_origin:
102+
{}
103+
oak_rgb_camera_frame:
104+
oak_rgb_camera_optical_frame:
105+
{}
106+
oak_right_camera_frame:
107+
oak_right_camera_optical_frame:
108+
{}
71109
Update Interval: 0
72110
Value: true
73111
- Alpha: 1
@@ -154,25 +192,25 @@ Visualization Manager:
154192
Views:
155193
Current:
156194
Class: rviz/Orbit
157-
Distance: 5.1412224769592285
195+
Distance: 3.9028306007385254
158196
Enable Stereo Rendering:
159197
Stereo Eye Separation: 0.05999999865889549
160198
Stereo Focal Distance: 1
161199
Swap Stereo Eyes: false
162200
Value: false
163201
Field of View: 0.7853981852531433
164202
Focal Point:
165-
X: 1.535446047782898
166-
Y: -0.4598390758037567
167-
Z: -0.15033507347106934
203+
X: 1.0510656833648682
204+
Y: -0.8599390387535095
205+
Z: -0.3137734830379486
168206
Focal Shape Fixed Size: true
169207
Focal Shape Size: 0.05000000074505806
170208
Invert Z Axis: false
171209
Name: Current View
172210
Near Clip Distance: 0.009999999776482582
173-
Pitch: 0.43979617953300476
211+
Pitch: 0.4397958815097809
174212
Target Frame: <Fixed Frame>
175-
Yaw: 2.5604374408721924
213+
Yaw: 2.4104363918304443
176214
Saved: ~
177215
Window Geometry:
178216
Detected Image:
@@ -182,7 +220,7 @@ Window Geometry:
182220
Height: 1015
183221
Hide Left Dock: false
184222
Hide Right Dock: false
185-
QMainWindow State: 000000ff00000000fd00000004000000000000016a0000033dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000440000033d000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000037e0000033dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc000000440000033d000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000002960000033d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
223+
QMainWindow State: 000000ff00000000fd00000004000000000000016a00000341fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004200000341000000fd01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000037e00000341fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004200000341000000ef0100001bfa000000000100000002fb0000001c0044006500740065006300740065006400200049006d0061006700650100000000ffffffff000000a201000003fb0000000a005600690065007700730100000670000001100000011001000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000001e8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002ad01000003fb0000000800540069006d00650100000000000004500000000000000000000002960000034100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
186224
Selection:
187225
collapsed: false
188226
Time:

launch/extended_object_detection_oakd_example.launch

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
<arg name="objectBasePath" default="$(find extended_object_detection)/config/object_base_example/ObjectBaseExample.xml"/>
44

55
<include file="$(find depthai_examples)/launch/rgb_stereo_node.launch">
6-
<!--<arg name="depth_registration" value="true"/>-->
6+
77
</include>
88

99
<node name="extended_object_detection" pkg="extended_object_detection" type="extended_object_detection_node" output="screen" >
@@ -12,15 +12,16 @@
1212

1313
<param name="subscribe_depth" value="true"/>
1414
<param name="rate_limit_sec" value="0.1"/>
15-
<param name="publish_output" value="true"/>
15+
<param name="publish_image_output" value="true"/>
16+
<param name="publish_markers" value="true"/>
1617

1718

1819
<remap from="camera/image_raw" to="/rgb_stereo_publisher/color/image"/>
1920
<remap from="camera/info" to="/rgb_stereo_publisher/color/camera_info"/>
2021
<remap from="depth/image_raw" to="/rgb_stereo_publisher/stereo/depth"/>
2122
<remap from="depth/info" to="/rgb_stereo_publisher/stereo/camera_info"/>
2223

23-
<rosparam param="selected_on_start_simple_objects">[40]</rosparam>
24+
<rosparam param="selected_on_start_simple_objects">[10]</rosparam>
2425
<rosparam param="selected_on_start_complex_objects">[-1]</rosparam>
2526

2627
</node>
@@ -30,6 +31,6 @@
3031
args="-d $(find extended_object_detection)/config/eod_example.rviz --opengl 300" />
3132

3233
<node pkg="tf" type="static_transform_publisher" name="static_cam_pub"
33-
args="0 0 0 0 0 0 map camera_link 100"/>
34+
args="0 0 0 -1.57 0 -1.57 map dai_rgb_camera_optical_frame 100"/>
3435

3536
</launch>

src/extended_object_detection_node/eod_node.cpp

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -217,8 +217,8 @@ void EOD_ROS::detect(const eod::InfoImage& rgb, const eod::InfoImage& depth, std
217217

218218
if(publish_markers){
219219
visualization_msgs::MarkerArray mrk_array_msg;
220-
for(auto& bo : simples_msg.objects){
221-
int id_cnt = 0;
220+
int id_cnt = 0;
221+
for(auto& bo : simples_msg.objects){
222222
mrk_array_msg.markers.push_back(base_object_to_marker_arrow(bo, rgb.K, header, cv::Scalar(0, 255, 0),id_cnt++));
223223
}
224224
simple_objects_markers_pub_.publish(mrk_array_msg);

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