388 lines
12 KiB
YAML
388 lines
12 KiB
YAML
Panels:
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- Class: rviz/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Camera1
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- /Camera1/Status1
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Splitter Ratio: 0.6011396050453186
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Tree Height: 345
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 112; 112; 115
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 80
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz_camera_stream/CameraPub
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Enabled: true
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Frame Rate: 10
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Image Topic: /ov_msckf/rendered
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Camera Info Topic: /ov_msckf/camera0_info
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Name: CameraPub1
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Queue Size: 2
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Value: true
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Visibility:
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Axes: true
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CameraPub2: true
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Grid: true
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Image1: true
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Image2: true
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TF: true
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /ov_msckf/trackhist
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image Tracks
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /ov_msckf/loop_depth_colored
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Current Depths
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Normalize Range: true
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Queue Size: 2
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Transport Hint: compressed
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 0; 255; 0
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Billboards
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Line Width: 0.009999999776482582
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Name: Path VIO
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Queue Size: 10
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /ov_msckf/pathimu
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 0; 255; 255
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Enabled: true
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Head Diameter: 0.30000001192092896
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Head Length: 0.20000000298023224
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Length: 0.30000001192092896
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Line Style: Billboards
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Line Width: 0.029999999329447746
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Name: Path GT
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Offset:
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X: 0
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Y: 0
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Z: 0
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Pose Color: 255; 85; 255
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Pose Style: None
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Queue Size: 10
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Radius: 0.029999999329447746
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Shaft Diameter: 0.10000000149011612
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Shaft Length: 0.10000000149011612
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Topic: /ov_msckf/pathgt
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Unreliable: false
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Value: true
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- Alpha: 0.800000011920929
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 252; 175; 62
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: MSCKF Points
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 8
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Size (m): 0.009999999776482582
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Style: Points
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Topic: /ov_msckf/points_msckf
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 0; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: SLAM Points
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 8
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Size (m): 0.009999999776482582
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Style: Points
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Topic: /ov_msckf/points_slam
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 117; 80; 123
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: ARUCO Points
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 15
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Size (m): 0.009999999776482582
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Style: Points
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Topic: /ov_msckf/points_aruco
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: ACTIVE Features
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic: /ov_msckf/loop_feats
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 127
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Min Color: 0; 0; 0
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Name: SIM Points
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic: /ov_msckf/points_sim
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/Camera
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Camera Info Topic: /ov_msckf/camera_info
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Enabled: true
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Image Rendering: background and overlay
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Image Topic: /ov_msckf/trackhist
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Name: Camera
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Overlay Alpha: 0.5
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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Visibility:
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ACTIVE Features: true
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ARUCO Points: true
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Current Depths: true
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Grid: true
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Image Tracks: true
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MSCKF Points: true
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Path GT: true
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Path VIO: true
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SIM Points: true
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SLAM Points: true
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TF: true
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Value: true
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Zoom Factor: 1
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- Class: rviz/Marker
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Enabled: true
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Marker Topic: /ov_msckf/vis_markers
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Name: Marker
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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Enabled: true
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Global Options:
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Background Color: 44; 44; 44
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Default Light: true
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Fixed Frame: global
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Frame Rate: 60
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 12.363367080688477
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: false
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.8953980803489685
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Target Frame: <Fixed Frame>
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Yaw: 0.8253981471061707
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Saved: ~
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Window Geometry:
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Camera:
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collapsed: false
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Current Depths:
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collapsed: false
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Displays:
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collapsed: false
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Height: 1016
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Hide Left Dock: false
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Hide Right Dock: true
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Image Tracks:
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collapsed: false
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QMainWindow State: 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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: true
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Width: 1920
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X: 0
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Y: 27
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