sdf

stretch_demos/rviz/grasp_object.rviz

@@ -3,8 +3,9 @@ Panels:
     Help Height: 78
     Name: Displays
     Property Tree Widget:
-      Expanded: ~
-      Splitter Ratio: 0.5
+      Expanded:
+        - /VOI Marker1/Status1
+      Splitter Ratio: 0.7617647051811218
     Tree Height: 539
   - Class: rviz/Selection
     Name: Selection
@@ -527,11 +528,49 @@ Visualization Manager:
       Visibility:
         Grid: true
         LaserScan: true
+        MHI Marker: true
         PointCloud2: true
         RobotModel: true
         TF: true
+        VOI Marker: true
         Value: true
       Zoom Factor: 1
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: /grasp_object/voi_marker
+      Name: VOI Marker
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Min Color: 0; 0; 0
+      Name: MHI Marker
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /grasp_object/mhi_marker
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -560,7 +599,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 6.687999725341797
+      Distance: 5.667474269866943
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -568,17 +607,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
+        X: -0.19024641811847687
+        Y: -0.866672933101654
+        Z: 0.26281020045280457
       Focal Shape Fixed Size: false
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.7853981852531433
+      Pitch: 0.6397964358329773
       Target Frame: <Fixed Frame>
-      Yaw: 0.7853981852531433
+      Yaw: 0.9854052066802979
     Saved: ~
 Window Geometry:
   Camera:
@@ -588,7 +627,7 @@ Window Geometry:
   Height: 836
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000039f000002a6fc0200000005fb0000000c00430061006d006500720061010000003d000002a60000001600fffffffb0000000c00430061006d006500720061000000003d000002a60000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065010000000000000640000003bc00fffffffb0000000800540069006d006501000000000000045000000000000000000000013f000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000002eb000002a6fc0200000005fb0000000c00430061006d006500720061010000003d000002a60000001600fffffffb0000000c00430061006d006500720061000000003d000002a60000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004c2000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006400000003efc0100000002fb0000000800540069006d0065010000000000000640000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000001f3000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time: