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Create an rviz2 plugin for displaying the BoundingBoxArray messages

Yunus Emre Çalışkan requested to merge 152-create-rviz-plugins-for-object-detection into master

Description

This is an rviz2 plugin that receives a bounding box array and covnerts the bounding boxes to rviz markers which are visualized using the marker display.

Notes for Reviewer

This is a minimally invasive addition to the default rviz2 plugins where i pretty much copied the MarkerArrayDisplay class and added the box->marker conversion logic with few other minor tweaks. The idea is to utilize the existing relatively complex marker displaying logic as much as possible.

Similar to the MarkerArrayDisplay, BoundingBoxArrayDisplay also dynamically allocates markers for each received bounding box at run time. It is possible to come up with a workaround since BoundingBoxArrays are bounded in size. Such a change would probably require re-writing the of the MarkerCommon class. It may or may not be a future addition to implement this improvement.

Another improvement would be avoiding the struct conversion and copying by rewriting/copying the marker visualization classes to directly visualize Bounding box messages.

Checklist

  • Documentation was updated

Closes #152 (closed)

Edited by Yunus Emre Çalışkan

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