Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Camera1 - /Camera1/Status1 Splitter Ratio: 0.6011396050453186 Tree Height: 345 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: - /2D Pose Estimate1 - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: "" Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 112; 112; 115 Enabled: true Line Style: Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 80 Reference Frame: Value: true - Class: rviz/Image Enabled: true Image Topic: /ov_msckf/trackhist Max Value: 1 Median window: 5 Min Value: 0 Name: Image Tracks Normalize Range: true Queue Size: 2 Transport Hint: compressed Unreliable: false Value: true Camera Info Topic: /ov_msckf/camera_info - Class: rviz/Image Enabled: true Image Topic: /ov_msckf/loop_depth_colored Max Value: 1 Median window: 5 Min Value: 0 Name: Current Depths Normalize Range: true Queue Size: 2 Transport Hint: compressed Unreliable: false Value: true - Camera Info Topic: /ov_msckf/camera_info - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 0; 255; 0 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.009999999776482582 Name: Path VIO Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /ov_msckf/pathimu Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 0; 255; 255 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.029999999329447746 Name: Path GT Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Queue Size: 10 Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /ov_msckf/pathgt Unreliable: false Value: true - Alpha: 0.800000011920929 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 252; 175; 62 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: MSCKF Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 8 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/points_msckf Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 0; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: SLAM Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 8 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/points_slam Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 117; 80; 123 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: ARUCO Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 15 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/points_aruco Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: ACTIVE Features Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/loop_feats Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 127 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: SIM Points Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: /ov_msckf/points_sim Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Class: rviz/Camera Camera Info Topic: /ov_msckf/camera_info Enabled: true Image Rendering: background and overlay Image Topic: /ov_msckf/trackhist Name: Camera Overlay Alpha: 0.5 Queue Size: 2 Transport Hint: raw Unreliable: false Value: true Visibility: ACTIVE Features: true ARUCO Points: true Current Depths: true Grid: true Image Tracks: true MSCKF Points: true Path GT: true Path VIO: true SIM Points: true SLAM Points: true TF: true Value: true Zoom Factor: 1 Enabled: true Global Options: Background Color: 44; 44; 44 Default Light: true Fixed Frame: global Frame Rate: 60 Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/MoveCamera - Class: rviz/Select - Class: rviz/FocusCamera - Class: rviz/Measure - Class: rviz/SetInitialPose Theta std deviation: 0.2617993950843811 Topic: /initialpose X std deviation: 0.5 Y std deviation: 0.5 - Class: rviz/SetGoal Topic: /move_base_simple/goal - Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Class: rviz/Orbit Distance: 12.363367080688477 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Field of View: 0.7853981852531433 Focal Point: X: 0 Y: 0 Z: 0 Focal Shape Fixed Size: false Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.8953980803489685 Target Frame: Yaw: 0.8253981471061707 Saved: ~ Window Geometry: Camera: collapsed: false Current Depths: collapsed: false Displays: collapsed: false Height: 1016 Hide Left Dock: false Hide Right Dock: true Image Tracks: collapsed: false QMainWindow State: 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 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1920 X: 0 Y: 27