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SteveMacenski / spatio_temporal_voxel_layer

A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations
http://wiki.ros.org/spatio_temporal_voxel_layer
GNU Lesser General Public License v2.1
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VISUALIZE_FRUSTUM gone from ROS2? #236

Closed tonynajjar closed 2 years ago

tonynajjar commented 2 years ago

I noticed you removed the VISUALIZE_FRUSTUM "tool" in this commit. It is still in the README though

I still need to visualize my frustum to understand why voxels are disappearing so quick. Any chance in getting it back? Any existing alternatives?

tonynajjar commented 2 years ago

Also being worked on here: https://github.com/PickNikRobotics/rviz_visual_tools/issues/181

SteveMacenski commented 2 years ago

I forget why I removed it in the port, but I do remember doing that intentionally due to some technical issue. I'm looking at the code now and have no idea why I thought that. If you were to submit a PR to add it back, I'd be happy to merge it (Unfortunately, I'm leaving for Italy in 48 hours for a few weeks, I would not be able to get to an implementation myself in that period of time).

tonynajjar commented 2 years ago

I found that Foxglove supports visualizing the Frustum from the camera_info topic image

The problem is still that STVL's frustum are not created based on the camera_info topic, but based on the parameters, which is redundant information. So I can't be sure that what i'm visualizing in foxglove is the same in STVL.

Feature request: STVL creates the Frustums from the camera_info if it exists, fallbacks to parameters.

On second thought, as for what VISUALIZE_FRUSTUM accomplishes, I think this should be an rviz plugin.

Sorry I won't have time to contribute here, my after-work time is currently full with the new tricycle controller

tonynajjar commented 2 years ago

Feature request: STVL creates the Frustums from the camera_info if it exists, fallbacks to parameters.

Let me know if you want me to create a separate feature request for that (if you agree with it)