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lines changed Original file line number Diff line number Diff line change 15
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<node name =" rviz" pkg =" rviz" type =" rviz"
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args =" --display-config $(find continuous_clustering)/rviz/demo_kitti_folder.rviz" />
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+
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+ <!-- below is just for visualization of a dummy car in Rviz (has not the correct dimensions) -->
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+ <param name =" robot_description" command =" $(find xacro)/xacro $(find continuous_clustering)/urdf/dummy_car.urdf" />
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+ <node pkg =" tf2_ros" type =" static_transform_publisher" name =" publish_base_link"
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+ args =" 0 0 -1.3 0 0 0 velo_link base_link" />
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</launch >
Original file line number Diff line number Diff line change 7
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<param name =" /vehicles/vw_passat_b6/geometric/length_ref_to_rear_end" value =" -3" />
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<param name =" /vehicles/vw_passat_b6/geometric/width_ref_to_left_mirror" value =" 1.5" />
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<param name =" /vehicles/vw_passat_b6/geometric/width_ref_to_right_mirror" value =" -1.5" />
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+
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+ <!-- visualize dummy car in Rviz (has not the correct dimensions!) -->
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+ <param name =" robot_description" command =" $(find xacro)/xacro $(find continuous_clustering)/urdf/dummy_car.urdf" />
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</launch >
Original file line number Diff line number Diff line change 8
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<param name =" /vehicles/touareg/geometric/width_ref_to_left_mirror" value =" 1.1085" />
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<param name =" /vehicles/touareg/geometric/width_ref_to_right_mirror" value =" -1.1085" />
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+ <!-- visualize dummy car in Rviz (has not the correct dimensions!) -->
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+ <param name =" robot_description" command =" $(find xacro)/xacro $(find continuous_clustering)/urdf/dummy_car.urdf" />
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+
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<!-- uncomment the following if you want to have the regular 360° PointCloud2 for the Ouster sensor -->
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<!-- lidar ouster left -->
Original file line number Diff line number Diff line change @@ -11,7 +11,7 @@ Panels:
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- /LidarRoof1/ContinuousPointClouds1/GroundPointSegmentation1/Show only1
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- /LidarRoof1/ContinuousPointClouds1/InstanceSegmentation1/Enable continuous1
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Splitter Ratio : 0.6441441178321838
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- Tree Height : 701
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+ Tree Height : 581
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- Class : rviz/Selection
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Name : Selection
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- Class : rviz/Tool Properties
@@ -62,6 +62,8 @@ Visualization Manager:
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Frame Timeout : 15
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Frames :
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All Enabled : true
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+ base_link :
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+ Value : true
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odom :
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Value : true
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velo_link :
@@ -75,17 +77,31 @@ Visualization Manager:
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Tree :
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odom :
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velo_link :
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- {}
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+ base_link :
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+ {}
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Update Interval : 0
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Value : true
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- - Class : rviz/Marker
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+ - Alpha : 1
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+ Class : rviz/RobotModel
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+ Collision Enabled : false
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Enabled : true
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- Marker Topic : /ego_robot_bounding_box
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- Name : EgoVehicle
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- Namespaces :
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- ego_robot : true
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- Queue Size : 100
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+ Links :
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+ All Links Enabled : true
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+ Expand Joint Details : false
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+ Expand Link Details : false
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+ Expand Tree : false
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+ Link Tree Style : Links in Alphabetic Order
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+ base_link :
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+ Alpha : 1
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+ Show Axes : false
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+ Show Trail : false
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+ Value : true
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+ Name : RobotModel
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+ Robot Description : robot_description
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+ TF Prefix : " "
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+ Update Interval : 0
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Value : true
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+ Visual Enabled : true
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- Class : rviz/Group
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Displays :
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- Alpha : 1
@@ -467,12 +483,12 @@ Window Geometry:
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collapsed : false
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GroundPointSegmentation :
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collapsed : false
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- Height : 1136
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+ Height : 1016
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Hide Left Dock : false
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Hide Right Dock : false
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InstanceSegmentation :
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collapsed : false
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- QMainWindow State: 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+ QMainWindow State: 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Selection :
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collapsed : false
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Time :
Original file line number Diff line number Diff line change @@ -313,13 +313,6 @@ class KittiDemo
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// generate (flattened) range image from point cloud (height corresponds to number of lasers)
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std::vector<KittiPoint> range_image = kitti_loader.generateRangeImage (points);
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- #ifdef WITH_ROS
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- // publish ego robot as marker
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- if (!disable_ros_publishers)
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- publish_ego_robot_bounding_box (
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- timestamps_velodyne_start[frame_index], pub_ego_robot_bbox, config.ground_segmentation );
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- #endif
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-
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// publish individual firings (here column and firing is the same as we pretend that the lasers
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// of one firing have the same azimuth angle, this is not the case for real velodyne sensors)
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for (int column_index = 0 ; column_index < KittiLoader::RANGE_IMAGE_WIDTH; column_index++)
Original file line number Diff line number Diff line change
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+ <?xml version =" 1.0" ?>
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+ <robot name =" touareg" >
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+
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+ <!-- add colors -->
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+ <material name =" gray" >
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+ <color rgba =" 0.8 0.8 0.8 0.5" />
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+ </material >
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+ <material name =" black" >
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+ <color rgba =" 0 0 0 1" />
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+ </material >
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+
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+ <link name =" base_link" >
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+
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+ <!-- chassis -->
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+ <visual >
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+ <geometry >
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+ <box size =" 4.754 2.217 1.5" />
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+ </geometry >
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+ <origin xyz =" -0.0235 0 0.338" rpy =" 0 0 0" />
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+ <material name =" gray" />
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+ </visual >
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+
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+ <!-- front left wheel -->
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+ <visual >
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+ <geometry >
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+ <cylinder length =" 0.2" radius =" 0.37" />
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+ </geometry >
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+ <origin xyz =" 1.4275 1.1085 -0.2715" rpy =" ${pi / 2} 0 0" />
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+ <material name =" black" />
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+ </visual >
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+
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+ <!-- front right wheel -->
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+ <visual >
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+ <geometry >
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+ <cylinder length =" 0.2" radius =" 0.37" />
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+ </geometry >
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+ <origin xyz =" 1.4275 -1.1085 -0.2715" rpy =" ${pi / 2} 0 0" />
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+ <material name =" black" />
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+ </visual >
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+
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+ <!-- rear left wheel -->
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+ <visual >
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+ <geometry >
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+ <cylinder length =" 0.2" radius =" 0.37" />
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+ </geometry >
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+ <origin xyz =" -1.4275 1.1085 -0.2715" rpy =" ${pi / 2} 0 0" />
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+ <material name =" black" />
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+ </visual >
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+
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+ <!-- rear right wheel -->
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+ <visual >
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+ <geometry >
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+ <cylinder length =" 0.2" radius =" 0.37" />
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+ </geometry >
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+ <origin xyz =" -1.4275 -1.1085 -0.2715" rpy =" ${pi / 2} 0 0" />
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+ <material name =" black" />
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+ </visual >
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+ </link >
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+
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+
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+ </robot >
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