added launch file for point cloud

mdkennedy3 · Aug 8, 2018 · 849632f · 849632f
1 parent 7df41e3
commit 849632f
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Showing 2 changed files with 20 additions and 17 deletions.
diff --git a/README.md b/README.md
@@ -36,14 +36,17 @@ roslaunch elp_stereo_synchronized_ros_pkg elp_stereo_camera.launch
 ```
 (images can easily be viewed using [rqt image viewer](http://wiki.ros.org/rqt_image_view))
 
-To See disparity run 
+To see disparity run 
 ```bash
 roslaunch elp_stereo_synchronized_ros_pkg disparity.launch
 ```
 when visualize_disparity argument is true, a image\_view disparity window will appear
 
 
-
+To see the point cloud
+```bash
+roslaunch elp_stereo_synchronized_ros_pkg point_cloud_rviz_disparity.launch
+```
 
 
 

diff --git a/extra/elp_stereo_camera.rviz b/extra/elp_stereo_camera.rviz
@@ -8,7 +8,7 @@ Panels:
         - /PointCloud21
         - /TF1/Frames1
       Splitter Ratio: 0.63953501
-    Tree Height: 595
+    Tree Height: 775
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -27,7 +27,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: Image
+    SyncSource: PointCloud2
 Visualization Manager:
   Class: ""
   Displays:
@@ -72,7 +72,7 @@ Visualization Manager:
       Queue Size: 10
       Selectable: true
       Size (Pixels): 3
-      Size (m): 0.0799999982
+      Size (m): 0.00999999978
       Style: Spheres
       Topic: /elp/points2
       Unreliable: false
@@ -185,25 +185,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/ThirdPersonFollower
-      Distance: 1.7603991
+      Distance: 1.62240326
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.934373021
-        Y: 0.000158045994
-        Z: 1.19208998e-07
-      Focal Shape Fixed Size: true
+        X: 0.858694673
+        Y: 0.0463217497
+        Z: -6.53505936e-07
+      Focal Shape Fixed Size: false
       Focal Shape Size: 0.0500000007
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: -0.139602125
+      Pitch: -0.0596017167
       Target Frame: <Fixed Frame>
       Value: ThirdPersonFollower (rviz)
-      Yaw: 3.52359223
+      Yaw: 3.07539988
     Saved:
       - Class: rviz/Orbit
         Distance: 0.821457982
@@ -263,20 +263,20 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 876
+  Height: 1056
   Hide Left Dock: false
-  Hide Right Dock: false
+  Hide Right Dock: true
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002e2fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002e2000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000023f000000cb0000001600ffffff000000010000010f000002e2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002e2000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000055f0000003efc0100000002fb0000000800540069006d006501000000000000055f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003ef000002e200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000023f000000cb0000001600ffffff000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000005cf0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
     collapsed: false
   Tool Properties:
     collapsed: false
   Views:
-    collapsed: false
-  Width: 1375
+    collapsed: true
+  Width: 1855
   X: 65
   Y: 24