Drawing poses in a coordinate system in rviz

asked 2013-07-03 04:03:24 -0600

Oier
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updated 2014-01-28 17:17:08 -0600

ngrennan
1 ●1 ●1

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

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answered 2013-07-03 04:08:51 -0600

dgossow

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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.

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answered 2013-07-08 07:36:49 -0600

hersh
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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

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