chore: Add rviz config

ulterzlw · Jul 26, 2019 · 15c34db · 15c34db
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diff --git a/README.md b/README.md
@@ -5,6 +5,7 @@
 Convert [KITTI](http://www.cvlibs.net/datasets/kitti/index.php) dataset to ROS bag file the easy way!
 
 ![KITTI playback preview](https://raw.githubusercontent.com/tomas789/kitti2bag/gh-pages/img/kitti_playback.png)
+![KITTI rviz preview](https://raw.githubusercontent.com/AlterLimbo/kitti2bag/gh-pages/img/kitti_rviz.png)
 
 ## Collaboration
 

diff --git a/rviz/kitti.rviz b/rviz/kitti.rviz
@@ -0,0 +1,268 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Imu1/Status1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 194
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Velodyne
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz/Axes
+      Enabled: true
+      Length: 10
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Class: rviz_plugin_tutorials/Imu
+      Color: 204; 51; 204
+      Enabled: true
+      History Length: 1
+      Name: Imu
+      Topic: /kitti/oxts/imu
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /kitti/camera_color_left/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: ColorLeft
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /kitti/camera_color_right/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: ColorRight
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /kitti/camera_gray_left/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: GrayLeft
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /kitti/camera_gray_right/image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: GrayRight
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      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: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0.9900000095367432
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Velodyne
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /kitti/velo/pointcloud
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        camera_color_left:
+          Value: true
+        camera_color_right:
+          Value: true
+        camera_gray_left:
+          Value: true
+        camera_gray_right:
+          Value: true
+        camera_init:
+          Value: true
+        imu_link:
+          Value: true
+        velo_init:
+          Value: true
+        velo_link:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          camera_init:
+            camera_gray_left:
+              camera_color_left:
+                {}
+              camera_color_right:
+                {}
+              camera_gray_right:
+                {}
+              velo_link:
+                {}
+          velo_init:
+            {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: world
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - 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
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 97.60752868652344
+      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: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5503984689712524
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.1853983402252197
+    Saved: ~
+Window Geometry:
+  ColorLeft:
+    collapsed: false
+  ColorRight:
+    collapsed: false
+  Displays:
+    collapsed: false
+  GrayLeft:
+    collapsed: false
+  GrayRight:
+    collapsed: false
+  Height: 1025
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000363fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120043006f006c006f0072004c0065006600740100000190000000820000001600fffffffb000000140043006f006c006f00720052006900670068007401000002180000007e0000001600fffffffb00000012004700720061007900520069006700680074010000029c0000007f0000001600fffffffb000000100047007200610079004c00650066007401000003210000007f0000001600ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005e10000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1853
+  X: 1507
+  Y: 27