330 lines
9.8 KiB
YAML
330 lines
9.8 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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Splitter Ratio: 0.6000000238418579
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Tree Height: 467
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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: 10
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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: 500
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 999
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Frames:
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All Enabled: true
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Marker Alpha: 1
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Marker Scale: 50
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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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{}
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Update Interval: 0
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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
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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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- 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: 1
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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: 1
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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: 0.4000000059604645
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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: 5
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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): 2
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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): 5
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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: 255; 170; 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: 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/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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- 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: Intensity
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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 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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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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Angle: 0
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Class: rviz/TopDownOrtho
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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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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Scale: 2.45080828666687
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Target Frame: imu
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X: 0
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Y: 0
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 972
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Hide Left Dock: false
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Hide Right Dock: true
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Image:
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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: 1707
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X: 2243
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Y: 1301
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