forked from anEEStudent/Airsim-with-Kimera-Semantics
-
Notifications
You must be signed in to change notification settings - Fork 0
/
kimera_semantics_gt.rviz
231 lines (231 loc) · 7.54 KB
/
kimera_semantics_gt.rviz
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /TF1/Frames1
- /TF1/Tree1
- /Semantic 3D Point Cloud1/Status1
Splitter Ratio: 0.43352600932121277
Tree Height: 567
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
- /Interact1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
- /ThirdPersonFollower1
Name: Views
Splitter Ratio: 0.7583643198013306
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Left Img
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Class: rviz/Image
Enabled: true
Image Topic: /airsim_node/drone_1/front_left_custom/Scene
Max Value: 1
Median window: 5
Min Value: 0
Name: Left Img
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /airsim_node/drone_1/front_left_custom/DepthVis
Max Value: 1
Median window: 5
Min Value: 0
Name: Depth
Normalize Range: false
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /airsim_node/drone_1/front_left_custom/Segmentation
Max Value: 1
Median window: 5
Min Value: 0
Name: Segmentation
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link_gt:
Value: true
left_cam:
Value: true
right_cam:
Value: true
world:
Value: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
world:
base_link_gt:
left_cam:
{}
right_cam:
{}
Update Interval: 0
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: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Semantic 3D Point Cloud
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic: /points
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: voxblox_rviz_plugin/VoxbloxMesh
Enabled: true
Name: Kimera Semantic 3D Mesh
Topic: /kimera_semantics_node/mesh
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
Value: true
Views:
Current:
Class: rviz/ThirdPersonFollower
Distance: 8.904419898986816
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -1.2953749895095825
Y: -5.910210132598877
Z: -4.898373617834295e-7
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.30539819598197937
Target Frame: base_link_gt
Value: ThirdPersonFollower (rviz)
Yaw: 4.708580493927002
Saved:
- Class: rviz/ThirdPersonFollower
Distance: 4.086756229400635
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: false
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: ThirdPersonFollower
Near Clip Distance: 0.009999999776482582
Pitch: 0.10039826482534409
Target Frame: base_link_gt
Value: ThirdPersonFollower (rviz)
Yaw: 4.763581275939941
Window Geometry:
Depth:
collapsed: false
Displays:
collapsed: false
Height: 1543
Hide Left Dock: false
Hide Right Dock: true
Left Img:
collapsed: false
QMainWindow State: 000000ff00000000fd000000040000000000000170000005adfc020000000ffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000274000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000016004c006500660074002000430061006d0065007200610000000222000001490000000000000000fb00000010004c00650066007400200049006d006701000002b70000010f0000001600fffffffb000000120052006900670068007400200049006d006701000003f9000000a20000000000000000fb0000000a0044006500700074006801000003cc0000010c0000001600fffffffb0000000a0049006d0061006700650100000588000000250000000000000000fb00000018005300650067006d0065006e0074006100740069006f006e01000004de0000010c0000001600fffffffb00000010004c00650066007400200049006d0067010000050f000000dd00000000000000000000000100000259000005affc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000005af000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000ebd00000039fc0100000002fb0000000800540069006d0065000000000000000ebd000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005e9000005ad00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Segmentation:
collapsed: false
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1887
X: 1953
Y: 27