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prajankya · Feb 4, 2017 · f4bee33 · f4bee33
1 parent e97775f
commit f4bee33
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Showing 6 changed files with 444 additions and 99 deletions.
diff --git a/agri_mapper/launch/mapper.launch b/agri_mapper/launch/mapper.launch
@@ -1,6 +1,9 @@
 <launch>
-	<arg name="file" default="/home/prajankya/rosbags/v7_with_2scans/all/recording_2017-02-02-18-05-49_out.yaml" />
+	<arg name="file" default="/home/prajankya/rosbags/v7_with_2scans/all/recording_2017-02-02-18-37-11_out.yaml" />
 	<node name="rviz" pkg="rviz" type="rviz" required="true" args="-d $(find agri_mapper_bringup)/config/mapper_view2.rviz" />
 
 	<node name="map_server" pkg="map_server" type="map_server" args="$(arg file)" />
+
+	<!-- <include file="$(find agri_mapper_research)/launch/tree_detector.launch" /> -->
+
 </launch>
diff --git a/agri_mapper_bringup/config/mapper_view2.rviz b/agri_mapper_bringup/config/mapper_view2.rviz
@@ -1,12 +1,12 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 78
+    Help Height: 90
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /Global Options1
       Splitter Ratio: 0.5
-    Tree Height: 359
+    Tree Height: 275
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -25,7 +25,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: Image
 Visualization Manager:
   Class: ""
   Displays:
@@ -56,6 +56,26 @@ Visualization Manager:
       Topic: /map
       Unreliable: false
       Value: true
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /agri_mapper/tree_detector/detected_trees
+      Name: Marker
+      Namespaces:
+        agri_mapper: true
+      Queue Size: 100
+      Value: true
+    - Class: rviz/Image
+      Enabled: false
+      Image Topic: /agri_mapper/tree_detector/detection_image
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -80,32 +100,34 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 17.736187
+      Distance: 29.1774502
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.218883634
-        Y: -0.558245301
-        Z: -4.35601377
+        X: 4.84579563
+        Y: -1.74479353
+        Z: -4.35139799
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.0500000007
       Name: Current View
       Near Clip Distance: 0.00999999978
       Pitch: 1.56979632
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 3.14540768
+      Yaw: 3.13540745
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: true
   Height: 1056
   Hide Left Dock: true
   Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000073f0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Image:
+    collapsed: true
+  QMainWindow State: 000000ff00000000fd00000004000000000000021000000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000001ae000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001dc000001e20000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000073f0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:

diff --git a/agri_mapper_research/CMakeLists.txt b/agri_mapper_research/CMakeLists.txt
@@ -30,3 +30,6 @@ include_directories(
 
 add_executable(tree_detector src/tree_detector.cpp)
 target_link_libraries(tree_detector ${catkin_LIBRARIES})
+
+add_executable(mapper_tree_detector src/mapper_tree_detector.cpp)
+target_link_libraries(mapper_tree_detector ${catkin_LIBRARIES})
diff --git a/agri_mapper_research/launch/tree_detector.launch b/agri_mapper_research/launch/tree_detector.launch
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <launch>
-  <node name="tree_detector" pkg="agri_mapper_research" type="tree_detector" output="screen" ns="agri_mapper">
+  <node name="tree_detector" pkg="agri_mapper_research" type="tree_detector" output="screen" ns="agri_mapper" launch-prefix="gdb -ex run --args">
     <rosparam command="load" file="$(find agri_mapper_research)/config/tree_detector.yaml" />
   </node>
 </launch>