From 17580c13cae73a749eb582a6a5c18bfeea4a3ace Mon Sep 17 00:00:00 2001
From: liuhaoyan <liuhaoyan1999@163.com>
Date: Tue, 25 Aug 2026 17:08:19 +0800
Subject: [PATCH] vis color opt

---
 src/PathVisualizer.cpp | 26 +++++++++++++-------------
 1 file changed, 13 insertions(+), 13 deletions(-)

diff --git a/src/PathVisualizer.cpp b/src/PathVisualizer.cpp
index c0886c3..49851ec 100644
--- a/src/PathVisualizer.cpp
+++ b/src/PathVisualizer.cpp
@@ -260,15 +260,15 @@ void PathVisualizer::publishVehiclePoseRviz()
     marker.action= visualization_msgs::msg::Marker::ADD;
 
     // 箭头大小
-    marker.scale.x=2.5;   // 长度
-    marker.scale.y=0.10;  // 宽度
-    marker.scale.z=0.15;
+    marker.scale.x=1.5;   // 长度
+    marker.scale.y=0.1;  // 宽度
+    marker.scale.z=0.08;
 
     // 颜色
     marker.color.a=1.0;
-    marker.color.r=1.0;
-    marker.color.g=1.0;
-    marker.color.b=1.0;
+    marker.color.r=0.9;
+    marker.color.g=0.4;
+    marker.color.b=0.1;
 
     // 位置
     marker.pose.position.x=x_;
@@ -334,12 +334,12 @@ void PathVisualizer::publishVehicleInfoRviz(){
 
     text.pose.position.x = 0.0;
     text.pose.position.y = 0.0;
-    text.pose.position.z = 1.5;
-    text.color.a = 0.8;
+    text.pose.position.z = 2.0;
+    text.color.a = 0.6;
     text.color.r = 1.0;
     text.color.g = 1.0;
     text.color.b = 1.0;
-    text.scale.z = 0.2;
+    text.scale.z = 0.15;
 
     text.text =
         "X: " + std::to_string(x_) + "\n" +
@@ -362,8 +362,8 @@ void PathVisualizer::publishPathRviz()
     path.scale.z = 0.15;
     path.color.a=1.0;
     path.color.r=1.0;
-    path.color.g=0.0;
-    path.color.b=0.0;
+    path.color.g=0.3;
+    path.color.b=0.05;
     double cos_yaw = std::cos(yaw_);
     double sin_yaw = std::sin(yaw_);
     for(size_t i=0;i<path_x_.size();i++)
@@ -394,8 +394,8 @@ void PathVisualizer::publishHistoryPathRviz(){
     history_pose.scale.y = 0.10;
     history_pose.scale.z = 0.10;
     history_pose.color.a=1.0;
-    history_pose.color.r=0.0;
-    history_pose.color.g=0.0;
+    history_pose.color.r=0.05;
+    history_pose.color.g=0.05;
     history_pose.color.b=1.0;
     double cos_yaw = std::cos(yaw_);
     double sin_yaw = std::sin(yaw_);