Visualizing in Rviz

[BingPeng0]

Hi. I have managed to run the code and can view it by subscribing to the yolo/dbg_image. But I wanted to ask how can I visualize the 3D image in the Rviz world like what is shown in the demo.

[mgonzs13]

@BingPeng0 You can use the marker visualization to show the 3D boxes.

[BingPeng0]

Sorry I still dont understand as I am quite new in ROS. Do I have to make another node to run the marker visualization or there is already topic being published provided in the yolov8 launch file.

[mgonzs13]

In rviz, using the Add button and then the By topic, you should see a marker topic. Adding it will visualize the 3D boxes.

[YumTaha]

I had similar question and I did the marker topic (there is 2, I don't know which one). This is what I see and it keeps blinking:

[mgonzs13]

@YumTaha You can also visualize the point cloud to see where the 3D boxes are.
If the 3D boxes are blinking, it may be due to a low rate. Check the image and detections rate.

[YumTaha]

How can I check both image and detections rate ?
also what's the difference between those 2 MarkerArray topics
Regarding visualizing the point cloud

Both have no topic to subscribe to

New: I believe the blinking issue is also same as the camera lag, since the boxes appears as soon as the camera image is updated, another thing I noticed is that the 3d placement don't look right,

as you can see the yellow and blue box are in the same surface, yet far apart in rviz

[mgonzs13]

How can I check both image and detections rate ?

Use ros2 topic hz <your-topic> to check the rate.

Regarding visualizing the point cloud
Both have no topic to subscribe to

You can use the PointCloud2 to visualize the point cloud. If you are not getting topics for PointCloud2, check your realsense, there should be a param to activate the point cloud.

[YumTaha]

Thanks, seems to work now

[BingPeng0]

There is nothing appear in my Rviz

[mgonzs13]

@BingPeng0 are you using the 3D version?

[BingPeng0]

20250113 - Yolo Marker Array Not Working.webm
Yes

[mgonzs13]

@BingPeng0 check the dbg_bb_markers messages and QoS. What is the world frame, does it exist in your tfs? You can also pull the new changes from this repo.