.. _visualizer:

Creating Visualization for recorded Rosbags
===========================================

.. click:: cli:visualizer_init
   :prog: visualizer
   :nested: full

Prerequisites
-------------

#. You have to place rosbags for which visualizations should be generated for inside the ``as_ros/rosbags`` directory

#. You may have to migrate the input rosbag beforehand with the :ref:`rosbag-migration` CLI so that the rosbag is up to date with the newest Autonomous System and its messages

Usage
-----

#. Execute the visualizer script (within the docker container, see :ref:`docker-exec-it-bash`), see explanation below and options above:

   .. code-block:: bash

      visualizer [INPUT_ROSBAG] -v <vehicle_name>

   a. You may want to specify that tf tree transformations should be added to the output bag file (``-t``)

   b. You may want to specify the suffix for the output rosbag (``-o``).

   c. You may want to specify the test day and track layout a ground truth map is saved under to generate visualization for it (``-td`` and ``-tl``)

   d. You may want to specify a start time, duration and end time for the output rosbag (``-s``, ``-d`` and ``-e``)

   e. You may want to specify the number of standard deviations that should be visualized for uncertainty visualizations (``-stddev``)

   f. You may want to specify that visulization on images should be generated (``-iv``).
   
      You may want to specify in which subdirectory the correct calibration matrices lie (``-cms``) (just the name of the subdirectory under ``src/local_mapping/scripts/matrices`` without slashes at the start and finish).

   g. You may want to specify that detection images for the detected bounding boxes should be generated (``-p``).

   h. You may want to specify image topics for which an video file (mp4) should be recorded (``-r``).

   i. You may want to specify to migrate ``gps_common/GPSFix`` to ``sensors_msgs/NavSatFix`` gps messages so they can be visualized in foxglove (``-g``).

   j. You may want to specify which metric should be used to color local motion planning trajectory path slices (``-lmpc``)

   k. You may want to specify that the receive time rather than a logical header time should be used for the generating of the visualization (probably not useful and not supported yet!)