Merge pull request #42 from stereolabs/add_plane_detection

Update Rviz config

Author: Myzhar

zed_display_rviz/rviz/zed.rviz

@@ -4,15 +4,15 @@ Panels:
     Name: Displays
     Property Tree Widget:
       Expanded:
-        - /Global Options1
         - /RobotModel1/Links1
         - /TF1/Frames1
+        - /Depth1/PointCloud21
         - /Depth1/DepthCloud1/Occlusion Compensation1
         - /Pose1/Odometry1/Covariance1
         - /Pose1/Odometry1/Covariance1/Position1
         - /Pose1/Odometry1/Covariance1/Orientation1
       Splitter Ratio: 0.5
-    Tree Height: 513
+    Tree Height: 512
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -31,7 +31,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: Camera view
+    SyncSource: DepthCloud
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
@@ -71,6 +71,10 @@ Visualization Manager:
           Alpha: 1
           Show Axes: false
           Show Trail: false
+        zed_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         zed_camera_center:
           Alpha: 1
           Show Axes: false
@@ -109,8 +113,12 @@ Visualization Manager:
           Value: true
         odom:
           Value: true
+        zed_base_link:
+          Value: true
         zed_camera_center:
           Value: true
+        zed_imu_link:
+          Value: true
         zed_left_camera_frame:
           Value: false
         zed_left_camera_optical_frame:
@@ -119,6 +127,7 @@ Visualization Manager:
           Value: false
         zed_right_camera_optical_frame:
           Value: false
+      Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
       Show Arrows: true
@@ -128,13 +137,16 @@ Visualization Manager:
         map:
           odom:
             base_link:
-              zed_camera_center:
-                zed_left_camera_frame:
-                  zed_left_camera_optical_frame:
-                    {}
-                zed_right_camera_frame:
-                  zed_right_camera_optical_frame:
-                    {}
+              zed_base_link:
+                zed_camera_center:
+                  zed_left_camera_frame:
+                    zed_imu_link:
+                      {}
+                    zed_left_camera_optical_frame:
+                      {}
+                  zed_right_camera_frame:
+                    zed_right_camera_optical_frame:
+                      {}
       Update Interval: 0
       Value: true
     - Class: rviz/Group
@@ -159,6 +171,7 @@ Visualization Manager:
               Value: false
             Fused pointcloud: true
             Grid: true
+            Planes: true
             Pose:
               Odometry: true
               Odometry Path: true
@@ -214,24 +227,22 @@ Visualization Manager:
           Color: 255; 255; 255
           Color Transformer: RGB8
           Decay Time: 0
-          Enabled: false
+          Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 4096
           Min Color: 0; 0; 0
-          Min Intensity: 0
           Name: PointCloud2
           Position Transformer: XYZ
           Queue Size: 1
-          Selectable: false
-          Size (Pixels): 1
+          Selectable: true
+          Size (Pixels): 2
           Size (m): 0.009999999776482582
           Style: Points
           Topic: /zed/zed_node/point_cloud/cloud_registered
           Unreliable: true
           Use Fixed Frame: true
           Use rainbow: true
-          Value: false
+          Value: true
         - Alpha: 1
           Auto Size:
             Auto Size Factor: 1
@@ -254,9 +265,7 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 255; 255; 255
-          Max Intensity: 4096
           Min Color: 0; 0; 0
-          Min Intensity: 0
           Name: DepthCloud
           Occlusion Compensation:
             Occlusion Time-Out: 30
@@ -331,6 +340,7 @@ Visualization Manager:
           Keep: 1
           Name: Odometry
           Position Tolerance: 0
+          Queue Size: 10
           Shape:
             Alpha: 1
             Axes Length: 0.10000000149011612
@@ -353,6 +363,7 @@ Visualization Manager:
           Head Length: 0.10000000149011612
           Head Radius: 0.05000000074505806
           Name: Pose
+          Queue Size: 10
           Shaft Length: 0.30000001192092896
           Shaft Radius: 0.019999999552965164
           Shape: Arrow
@@ -383,6 +394,7 @@ Visualization Manager:
           Head Length: 0.10000000149011612
           Head Radius: 0.05000000074505806
           Name: PoseWithCovariance
+          Queue Size: 10
           Shaft Length: 0.30000001192092896
           Shaft Radius: 0.019999999552965164
           Shape: Arrow
@@ -406,6 +418,7 @@ Visualization Manager:
             Z: 0
           Pose Color: 255; 25; 0
           Pose Style: Arrows
+          Queue Size: 10
           Radius: 0.029999999329447746
           Shaft Diameter: 0.009999999776482582
           Shaft Length: 0.05000000074505806
@@ -429,6 +442,7 @@ Visualization Manager:
             Z: 0
           Pose Color: 25; 255; 0
           Pose Style: Arrows
+          Queue Size: 10
           Radius: 0.029999999329447746
           Shaft Diameter: 0.009999999776482582
           Shaft Length: 0.05000000074505806
@@ -452,9 +466,7 @@ Visualization Manager:
       Enabled: true
       Invert Rainbow: false
       Max Color: 255; 255; 255
-      Max Intensity: 4096
       Min Color: 0; 0; 0
-      Min Intensity: 0
       Name: Fused pointcloud
       Position Transformer: XYZ
       Queue Size: 1
@@ -467,6 +479,15 @@ Visualization Manager:
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /zed/zed_node/plane_marker
+      Name: Planes
+      Namespaces:
+        plane_hit_points: true
+        plane_meshes: true
+      Queue Size: 5
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -495,12 +516,13 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.6228373050689697
+      Distance: 4.2439069747924805
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
         X: 2.0602869987487793
         Y: -0.5852259397506714
@@ -510,10 +532,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2097957730293274
+      Pitch: 0.6047953963279724
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 2.835416793823242
+      Yaw: 3.515421152114868
     Saved: ~
 Window Geometry:
   Camera view:
@@ -526,12 +547,12 @@ Window Geometry:
     collapsed: false
   Displays:
     collapsed: false
-  Height: 1025
+  Height: 1016
   Hide Left Dock: false
   Hide Right Dock: true
   Left camera:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 000000ff00000000fd0000000400000000000001ea000003a2fc0200000013fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000289000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002400000010f0000000000000000fb0000000a0049006d006100670065000000028b000000c40000000000000000fb0000000a0049006d006100670065010000028a000000c50000000000000000fb0000000a0049006d00610067006500000002b30000009c0000000000000000fb0000000a0049006d006100670065010000028b000000c40000000000000000fb0000001600430061006d0065007200610020007600690065007701000002ca000001130000001600fffffffb00000012004400650070007400680020006d0061007002000002420000019300000280000001e0fb000000200043006f006e0066006900640065006e0063006500200069006d00610067006502000005000000019300000280000001e0fb0000001c0043006f006e0066006900640065006e006300650020006d0061007002000005000000019500000280000001e0fb00000016004c006500660074002000630061006d0065007200610200000245000002ee00000280000001e0fb0000001800520069006700680074002000630061006d0065007200610200000430000002ee00000280000001e0000000010000010f000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000040fc0100000002fb0000000800540069006d006500000000000000073f0000042700fffffffb0000000800540069006d0065010000000000000450000000000000000000000558000003a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Right camera:
     collapsed: false
   Selection:
@@ -542,6 +563,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 1869
-  X: 1971
-  Y: 27
+  Width: 1864
+  X: 56
+  Y: 430