/vision_msgs_rviz_plugins

RVIZ2 plugins for visualization of vision_msgs

Primary LanguageC++Apache License 2.0Apache-2.0

vision_msgs_rviz_plugins

This repo contains a RVIZ2 plugin to display vision_msgs for ROS 2 humble.

  • Detection3DArray
    • Display ObjectHypothesisWithPose/score
    • Change color based on ObjectHypothesisWithPose/id [car: orange, person: blue, cyclist: yellow, motorcycle: purple, other: grey]
    • Visualization propperties
      • Alpha
      • Line or Box
      • Linewidth
      • Change color map based on provided yaml file
  • Detection3D
    • Display ObjectHypothesisWithPose/score
    • Change color based on ObjectHypothesisWithPose/id [car: orange, person: blue, cyclist: yellow, motorcycle: purple, other: grey]
    • Visualization propperties
      • Alpha
      • Line or Box
      • Linewidth
      • Change color map based on provided yaml file
  • BoundingBox3D
    • Alpha
    • Line or Box
      Since no header in vision_msgs/BonudingBox visualizations uses rviz fixed frame for tf transformation
    • Linewidth
  • BoundingBox3DArray
    • Alpha
    • Line or Box
    • Linewidth

Bounding Box Array

Install and Testing

Install:

  1. Via apt:
sudo apt update && sudo apt install ros-$ROS_DISTRO-vision-msgs-rviz-plugins
  1. From source:
$ cd ros2_ws/src && git clone https://github.com/NovoG93/vision_msgs_rviz_plugins -b humble
$ cd ros2_ws && rosdep install --from src --ignore-src -r -y \
  && colcon build --symlink-install --packages-select vision_msgs_rviz_plugins

Testing:

$ ros2 launch vision_msgs_rviz_plugins test_all.launch.py