Ask Your Question
1

Drawing poses in a coordinate system in rviz

asked 2013-07-03 04:03:24 -0500

Oier gravatar image

updated 2014-01-28 17:17:08 -0500

ngrennan gravatar image

Hi,

I am developing in a visual SLAM context and would like to draw the resulting camera poses for each keyframe in rviz as coordinate systems(i.e. three arrows), to see how well the localization works. Since I am inexperienced in this issue, could anyone give me an approximate description of how this can be done? Is there a tutorial or a ROS package which already does something similar? And is it necessary to use Tf for this?

Cheers,

Oier

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
1

answered 2013-07-03 04:08:51 -0500

dgossow gravatar image

I would recommend to publish 3 Arrow Markers for each pose (see e.g. http://www.ros.org/wiki/rviz/Tutorials/Markers%3A%20Basic%20Shapes).

You could also publish a tf frame for each pose, but that will create a lot of computational overhead in the system.

edit flag offensive delete link more
1

answered 2013-07-08 07:36:49 -0500

hersh gravatar image

There is also the "Pose" display type in rviz, which subscribes to PoseStamped messages. The trouble for your application (I think) is that it only shows a single axis, not a sequence of them. It would make sense to add a feature that let you specify a "history length" or number of poses to display. Adding an issue to rviz: https://github.com/ros-visualization/rviz/issues/652

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2013-07-03 04:03:24 -0500

Seen: 3,789 times

Last updated: Jul 08 '13