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detected_objects_visualizer package from dwd_sensor_fusion reporockauto_build_flags amathutils_lib state_machine_lib detected_objects_visualizer lidar_cnn_seg_detect rockauto_msgs darknet_ros darknet_ros_msgs kitti_player depthGet opencv_deal pcl_deal |
Package Summary
| Tags | No category tags. |
| Version | 1.11.0 |
| License | Apache |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | Lidar, camera, Radar multi-sensor fusion and Dynamic Weight Distribution (DWD) algorithm (ROS) . This project is able to fusion the targets of lidar, radar and camera, and assign them dynamic weights according to the Kalman filter effect. And make it running in ROS. |
| Checkout URI | https://github.com/vannizhou/dwd_sensor_fusion.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2022-04-08 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Visualization package for DetectedObjectArray
Additional Links
No additional links.
Maintainers
- amc
Authors
No additional authors.
Detected Object Visualizer
This node interprets the output of each of the perception nodes and creates the corresponding rviz visualization.
Parameters
Launch file available parameters:
| Parameter | Type | Description |
|---|---|---|
marker_display_duration |
Double | Time in ms to display the marker. Default 0.1. |
object_speed_threshold |
Double | Speed threshold to display. Default 0.1. |
arrow_speed_threshold |
Double | Arrow speed threshold to display. Default 0.25. |
label_color |
Array | Four double values (RGBA), representing the color of the object. Default [255,255,255,1]. |
arrow_color |
Array | Four double values (RGBA), representing the color of the object. Default [0,255,0,1,0.8]. |
hull_color |
Array | Four double values (RGBA), representing the color of the object. Default [51,204,51,0.8]. |
box_color |
Array | Four double values (RGBA), representing the color of the object. Default [51,128,204,0.8]. |
centroid_color |
Array | Four double values (RGBA), representing the color of the object. Default [77,121,255,0.8]. |
Subscribed topics
| Topic | Type | Objective |
|---|---|---|
ROS_NAMESPACE/objects |
rockauto_msgs/DetectedObjectArray |
Objects Array topic to visualize |
Published topics
| Topic | Type | Objective |
|---|---|---|
ROS_NAMESPACE/objects_markers |
visualization_msgs::MarkerArray | A Label indicating the class and info of the object |
The message includes each of the following namespaces:
| Namespace | Objective |
|---|---|
ROS_NAMESPACE/objects_arrows |
An arrow indicating the direction (Marker::ARROW) |
ROS_NAMESPACE/objects_hulls |
Convex Hull, the containing polygon (Marker::LINE_STRIP) |
ROS_NAMESPACE/objects_boxes |
Bounding box containing the object (Marker::CUBE) |
ROS_NAMESPACE/objects_centroids |
Sphere representing the centroid of the object in space (Marker::SPHERE) |
Notes
This node is already included in the perception nodes’ launch file.
If you need to use it manually, be sure to add the ROS_NAMESPACE if using rosrun.
For launch files, add the following line to your launch file:
<node pkg="detected_objects_visualizer" type="visualize_detected_objects" name="AN_INSTANCENAME_01"
output="screen" ns="ROS_NAMESPACE"/>
i.e. to visualize the output of the lidar tracker use ROS_NAMESPACE=/detection/lidar_tracker in rosrun or
ns="/detection/lidar_tracker" in the launch file.
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| roscpp | |
| geometry_msgs | |
| std_msgs | |
| sensor_msgs | |
| rockauto_msgs | |
| tf | |
| visualization_msgs | |
| catkin | |
| pcl_ros |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged detected_objects_visualizer at Robotics Stack Exchange
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