diff --git a/beacon_ros2/config/rviz.rviz b/beacon_ros2/config/rviz.rviz
new file mode 100644
index 0000000000000000000000000000000000000000..b7ca700906519aa46074cc6589371edd6d3d381f
--- /dev/null
+++ b/beacon_ros2/config/rviz.rviz
@@ -0,0 +1,163 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ Splitter Ratio: 0.5
+ Tree Height: 380
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /2D Goal Pose1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/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
+ - Class: rviz_default_plugins/Image
+ Enabled: true
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /left_image
+ Value: true
+ - Class: rviz_default_plugins/Image
+ Enabled: true
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /right_image
+ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /goal_pose
+ - Class: rviz_default_plugins/PublishPoint
+ Single click: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /clicked_point
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: rviz_default_plugins/Orbit
+ Distance: 10
+ 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: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.785398006439209
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 0.785398006439209
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 846
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000292000002b4fc020000000afb0000000a0049006d006100670065010000003b000001690000002800fffffffb0000000a0049006d00610067006501000001aa000001450000002800fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000001a100000205000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000036bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b0000036b000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000780000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000025300fffffffb0000000800540069006d0065010000000000000450000000000000000000000218000002b400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1200
+ X: 79
+ Y: 97
diff --git a/beacon_ros2/include/beacon_ros2/offline_process.h b/beacon_ros2/include/beacon_ros2/offline_process.h
index 3607acfc69cf02aa7f60d9657d44f6ebb87274f5..337db1c03e5d2e393621d214e4157ad9bd6c2186 100644
--- a/beacon_ros2/include/beacon_ros2/offline_process.h
+++ b/beacon_ros2/include/beacon_ros2/offline_process.h
@@ -37,7 +37,7 @@ class PohangStereoImageLoader : public rclcpp::Node {
protected:
void loadData() {
- constexpr int batch_size{500};
+ constexpr int batch_size{100};
constexpr int min_batch_size{10};
if (!m_reader.has_next()) {
diff --git a/beacon_ros2/include/beacon_ros2/stereo_odometry_offline.h b/beacon_ros2/include/beacon_ros2/stereo_odometry_offline.h
index bd5c8fd0ecddda876d8674ef1117689fff784f11..07c387f6dbe6d8e0b39241022372cd37afd9f654 100644
--- a/beacon_ros2/include/beacon_ros2/stereo_odometry_offline.h
+++ b/beacon_ros2/include/beacon_ros2/stereo_odometry_offline.h
@@ -26,6 +26,7 @@ class StereoOdometryOffline
protected:
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr m_left_img_pub{};
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr m_right_img_pub{};
+ rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr m_stereo_img_pub{};
protected:
// beaocn utility
diff --git a/beacon_ros2/src/stereo_odometry_offline.cpp b/beacon_ros2/src/stereo_odometry_offline.cpp
index 17316c48167e30f28262d8ee4529d240520ff547..e3cbaa046cb9d96b17d865832f67a9c9fdc8a472 100644
--- a/beacon_ros2/src/stereo_odometry_offline.cpp
+++ b/beacon_ros2/src/stereo_odometry_offline.cpp
@@ -14,6 +14,8 @@ StereoOdometryOffline::StereoOdometryOffline(const std::string& path_to_bag,
this->create_publisher<sensor_msgs::msg::Image>("left_image", 10000);
m_right_img_pub =
this->create_publisher<sensor_msgs::msg::Image>("right_image", 10000);
+ m_stereo_img_pub =
+ this->create_publisher<sensor_msgs::msg::Image>("stereo_match", 10000);
}
/* ########################################################################## */
@@ -40,14 +42,17 @@ void StereoOdometryOffline::runImpl(StereoImageMsg msg) {
display_right.header = right->header;
display_right.encoding = right->encoding;
m_right_img_pub->publish(*display_right.toImageMsg());
- // m_right_img_pub->publish(*right->toImageMsg());
+
+ cv_bridge::CvImage display_stereo{};
+ display_stereo.image = display_imgs.stereo_match;
+ display_stereo.header = left->header;
+ display_stereo.encoding = left->encoding;
+ m_stereo_img_pub->publish(*display_stereo.toImageMsg());
}
/* ########################################################################## */
void StereoOdometryOffline::loadParameter(const beacon::ParameterHandler& ph) {
m_pipeline.loadParameter(ph);
- m_pipeline.setCameraPair(beacon::Pinhole::create(),
- beacon::Pinhole::create());
}
/* ########################################################################## */