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feat: add twist information for detected object on rviz #1014

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feat: add twist information for detected object on rviz #1014

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a355ae0
fix: fix rviz object id display
scepter914 May 30, 2022
07831cd
feature: add twist information for detected object visualization
scepter914 May 30, 2022
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22 changes: 22 additions & 0 deletions ...on/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,28 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
label_marker_ptr->id = id++;
add_marker(label_marker_ptr);
}

// Get marker for velocity text
geometry_msgs::msg::Point vel_vis_position;
vel_vis_position.x = object.kinematics.pose_with_covariance.pose.position.x;
vel_vis_position.y = object.kinematics.pose_with_covariance.pose.position.y - 1.0;
vel_vis_position.z = object.kinematics.pose_with_covariance.pose.position.z - 1.0;
auto velocity_text_marker = get_velocity_text_marker_ptr(
object.kinematics.twist_with_covariance.twist, vel_vis_position, object.classification);
if (velocity_text_marker) {
auto velocity_text_marker_ptr = velocity_text_marker.value();
velocity_text_marker_ptr->header = msg->header;
add_marker(velocity_text_marker_ptr);
}

// Get marker for twist
auto twist_marker = get_twist_marker_ptr(
object.kinematics.pose_with_covariance, object.kinematics.twist_with_covariance);
if (twist_marker) {
auto twist_marker_ptr = twist_marker.value();
twist_marker_ptr->header = msg->header;
add_marker(twist_marker_ptr);
}
}
}

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8 changes: 4 additions & 4 deletions ...n/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp
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Expand Up @@ -54,8 +54,8 @@ void PredictedObjectsDisplay::processMessage(PredictedObjects::ConstSharedPtr ms

// Get marker for id
geometry_msgs::msg::Point uuid_vis_position;
uuid_vis_position.x = object.kinematics.initial_pose_with_covariance.pose.position.x - 0.5;
uuid_vis_position.y = object.kinematics.initial_pose_with_covariance.pose.position.y;
uuid_vis_position.x = object.kinematics.initial_pose_with_covariance.pose.position.x;
uuid_vis_position.y = object.kinematics.initial_pose_with_covariance.pose.position.y - 0.5;
Comment on lines +57 to +58
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@scepter914 Can you share the image taken from view point of a third person?
I think it's good from BEV, but from view point of a third person it would be out of alignment.

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It may be better to merge into one string and publish

uuid_vis_position.z = object.kinematics.initial_pose_with_covariance.pose.position.z - 0.5;

auto id_marker =
Expand All @@ -79,8 +79,8 @@ void PredictedObjectsDisplay::processMessage(PredictedObjects::ConstSharedPtr ms

// Get marker for velocity text
geometry_msgs::msg::Point vel_vis_position;
vel_vis_position.x = uuid_vis_position.x - 0.5;
vel_vis_position.y = uuid_vis_position.y;
vel_vis_position.x = uuid_vis_position.x;
vel_vis_position.y = uuid_vis_position.y - 0.5;
vel_vis_position.z = uuid_vis_position.z - 0.5;
auto velocity_text_marker = get_velocity_text_marker_ptr(
object.kinematics.initial_twist_with_covariance.twist, vel_vis_position,
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8 changes: 4 additions & 4 deletions common/autoware_auto_perception_rviz_plugin/src/object_detection/tracked_objects_display.cpp
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Expand Up @@ -56,8 +56,8 @@ void TrackedObjectsDisplay::processMessage(TrackedObjects::ConstSharedPtr msg)

// Get marker for id
geometry_msgs::msg::Point uuid_vis_position;
uuid_vis_position.x = object.kinematics.pose_with_covariance.pose.position.x - 0.5;
uuid_vis_position.y = object.kinematics.pose_with_covariance.pose.position.y;
uuid_vis_position.x = object.kinematics.pose_with_covariance.pose.position.x;
uuid_vis_position.y = object.kinematics.pose_with_covariance.pose.position.y - 0.5;
uuid_vis_position.z = object.kinematics.pose_with_covariance.pose.position.z - 0.5;

auto id_marker =
Expand All @@ -81,8 +81,8 @@ void TrackedObjectsDisplay::processMessage(TrackedObjects::ConstSharedPtr msg)

// Get marker for velocity text
geometry_msgs::msg::Point vel_vis_position;
vel_vis_position.x = uuid_vis_position.x - 0.5;
vel_vis_position.y = uuid_vis_position.y;
vel_vis_position.x = uuid_vis_position.x;
vel_vis_position.y = uuid_vis_position.y - 0.5;
vel_vis_position.z = uuid_vis_position.z - 0.5;
auto velocity_text_marker = get_velocity_text_marker_ptr(
object.kinematics.twist_with_covariance.twist, vel_vis_position, object.classification);
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