354 lines
10 KiB
YAML
354 lines
10 KiB
YAML
Panels:
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- Class: rviz_common/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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Splitter Ratio: 0.4882352948188782
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Tree Height: 272
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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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_common/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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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_default_plugins/Grid
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Color: 160; 160; 164
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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: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 120
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Frames:
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All Enabled: true
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cam0:
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Value: true
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global:
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Value: true
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imu:
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Value: true
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truth:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: false
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Show Axes: true
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Show Names: true
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Tree:
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global:
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imu:
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cam0:
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{}
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truth:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: true
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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: 10
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Topic: /ov_msckf/trackhist
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Unreliable: false
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: false
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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: 10
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Topic: /ov_msckf/loop_depth_colored
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Unreliable: false
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Value: false
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- Alpha: 1
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Buffer Length: 1
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Class: rviz_default_plugins/Path
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Color: 25; 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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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_default_plugins/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: 0.009999999776482582
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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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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_default_plugins/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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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 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_default_plugins/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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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 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_default_plugins/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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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 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_default_plugins/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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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: ACTIVE 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/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_default_plugins/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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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 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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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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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_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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Topic: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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Distance: 10
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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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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: 0.9453980326652527
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.7853981852531433
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Saved: ~
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Window Geometry:
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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: 690
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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: 000000ff00000000fd00000004000000000000016a00000258fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000014d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000180049006d00610067006500200054007200610063006b00730100000190000001050000002800fffffffb0000000a0049006d00610067006501000001c60000011c0000000000000000fb0000001c00430075007200720065006e0074002000440065007000740068007300000001eb000000b50000002800ffffff000000010000010f00000218fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000218000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000039b0000025800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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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: 1291
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X: 2051
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Y: 110
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