Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: ~ Splitter Ratio: 0.6000000238418579 Tree Height: 467 - 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: 10 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: 500 Reference Frame: Value: true - Class: rviz/TF Enabled: true Frame Timeout: 999 Frames: All Enabled: true Marker Alpha: 1 Marker Scale: 50 Name: TF Show Arrows: false Show Axes: true Show Names: true Tree: {} Update Interval: 0 Value: true - Class: rviz/Image Enabled: true Image Topic: /ov_msckf/trackhist Max Value: 1 Median window: 5 Min Value: 0 Name: Image Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: true - 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: 1 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: 1 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: 0.4000000059604645 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: 5 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): 2 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): 5 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: 255; 170; 0 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/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 - 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: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Min Color: 0; 0; 0 Name: Active Points 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 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: Angle: 0 Class: rviz/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Scale: 2.45080828666687 Target Frame: imu X: 0 Y: 0 Saved: ~ Window Geometry: Displays: collapsed: false Height: 972 Hide Left Dock: false Hide Right Dock: true Image: collapsed: false QMainWindow State: 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 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 1707 X: 2243 Y: 1301