Panels:
  - Class: rviz/Displays
    Help Height: 0
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /LoopGroup1
        - /LoopGroup1/loopLink1/Namespaces1
        - /VIOGroup1
      Splitter Ratio: 0.465115994
    Tree Height: 242
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: track_image
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded: ~
      Splitter Ratio: 0.5
    Tree Height: 359
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 80
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 999
      Frames:
        All Enabled: true
        cam0:
          Value: true
        global:
          Value: true
        imu:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: true
      Tree:
        global:
          imu:
            cam0:
              {}
      Update Interval: 0
      Value: true
    - Class: rviz/Axes
      Enabled: false
      Length: 0.5
      Name: Axes
      Radius: 0.0500000007
      Reference Frame: <Fixed Frame>
      Value: false
    - Class: rviz/Group
      Displays:
        - Class: rviz/MarkerArray
          Enabled: true
          Marker Topic: /loop_fusion_node/pose_graph
          Name: loopLink
          Namespaces:
            CameraPoseVisualization: true
          Queue Size: 100
          Value: true
        - Class: rviz/MarkerArray
          Enabled: false
          Marker Topic: /loop_fusion_node/camera_pose_visual
          Name: loopCamera
          Namespaces:
            {}
          Queue Size: 100
          Value: false
        - Alpha: 1
          Axes Length: 0.200000003
          Axes Radius: 0.0199999996
          Class: rviz/PoseWithCovariance
          Color: 255; 25; 0
          Covariance:
            Orientation:
              Alpha: 0.5
              Color: 255; 255; 127
              Color Style: Unique
              Frame: Local
              Offset: 1
              Scale: 1
              Value: true
            Position:
              Alpha: 0.300000012
              Color: 204; 51; 204
              Scale: 1
              Value: true
            Value: false
          Enabled: true
          Head Length: 0.300000012
          Head Radius: 0.100000001
          Name: PoseWithCovariance
          Shaft Length: 1
          Shaft Radius: 0.0500000007
          Shape: Axes
          Topic: /ov_secondary/poseimu
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 204; 0; 0
          Enabled: true
          Head Diameter: 0.300000012
          Head Length: 0.200000003
          Length: 0.300000012
          Line Style: Lines
          Line Width: 0.0399999991
          Name: loopPath 1
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.0299999993
          Shaft Diameter: 0.100000001
          Shaft Length: 0.100000001
          Topic: /loop_fusion_node/path_1
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 170; 0
          Enabled: true
          Head Diameter: 0.300000012
          Head Length: 0.200000003
          Length: 0.300000012
          Line Style: Lines
          Line Width: 0.0399999991
          Name: loopPath 2
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.0299999993
          Shaft Diameter: 0.100000001
          Shaft Length: 0.100000001
          Topic: /loop_fusion_node/path_2
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 170; 0; 255
          Enabled: true
          Head Diameter: 0.300000012
          Head Length: 0.200000003
          Length: 0.300000012
          Line Style: Lines
          Line Width: 0.0399999991
          Name: loopPath 3
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.0299999993
          Shaft Diameter: 0.100000001
          Shaft Length: 0.100000001
          Topic: /loop_fusion_node/path_3
          Unreliable: false
          Value: true
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: -0.00362956035
            Min Value: -0.155465692
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/PointCloud
          Color: 255; 255; 255
          Color Transformer: FlatColor
          Decay Time: 10
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: PointCloud
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 2
          Size (m): 0.00999999978
          Style: Points
          Topic: /loop_fusion/margin_cloud_loop_rect
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - 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: 0; 255; 0
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: PointCloud
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 4
          Size (m): 0.00999999978
          Style: Points
          Topic: /loop_fusion/point_cloud_loop_rect
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Class: rviz/Image
          Enabled: true
          Image Topic: /ov_secondary/match_image
          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: loop_match_Image
          Normalize Range: true
          Queue Size: 2
          Transport Hint: raw
          Unreliable: false
          Value: true
      Enabled: true
      Name: LoopGroup
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 25; 255; 0
          Enabled: true
          Head Diameter: 0.300000012
          Head Length: 0.200000003
          Length: 0.300000012
          Line Style: Lines
          Line Width: 0.0299999993
          Name: VIOPath
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.0299999993
          Shaft Diameter: 0.100000001
          Shaft Length: 0.100000001
          Topic: /ov_msckf/pathimu
          Unreliable: false
          Value: true
        - Class: rviz/MarkerArray
          Enabled: false
          Marker Topic: /vins_estimator/camera_pose_visual
          Name: CameraMarker
          Namespaces:
            {}
          Queue Size: 100
          Value: false
        - Alpha: 1
          Axes Length: 0.200000003
          Axes Radius: 0.0199999996
          Class: rviz/PoseWithCovariance
          Color: 255; 25; 0
          Covariance:
            Orientation:
              Alpha: 0.5
              Color: 255; 255; 127
              Color Style: Unique
              Frame: Local
              Offset: 1
              Scale: 1
              Value: true
            Position:
              Alpha: 0.300000012
              Color: 204; 51; 204
              Scale: 1
              Value: true
            Value: false
          Enabled: false
          Head Length: 0.300000012
          Head Radius: 0.100000001
          Name: PoseWithCovariance
          Shaft Length: 1
          Shaft Radius: 0.0500000007
          Shape: Axes
          Topic: /ov_msckf/poseimu
          Unreliable: false
          Value: false
        - 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: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: PointCloud
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 2
          Size (m): 0.00999999978
          Style: Points
          Topic: /vins_estimator/point_cloud
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - 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; 255
          Color Transformer: Intensity
          Decay Time: 1
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.00999999978
          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/PointCloud
          Color: 0; 255; 0
          Color Transformer: FlatColor
          Decay Time: 100
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 4096
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: HistoryPointCloud
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 1
          Size (m): 0.00999999978
          Style: Points
          Topic: /vins_estimator/margin_cloud
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: false
        - Class: rviz/Image
          Enabled: true
          Image Topic: /ov_msckf/trackhist
          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: track_image
          Normalize Range: true
          Queue Size: 2
          Transport Hint: raw
          Unreliable: false
          Value: true
      Enabled: true
      Name: VIOGroup
  Enabled: true
  Global Options:
    Background Color: 0; 0; 0
    Default Light: true
    Fixed Frame: global
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - 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: 19.7382278
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.855398118
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 0.890398085
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1056
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000002a6000003dafc0200000015fb000000100044006900730070006c006100790073010000002800000133000000d700fffffffb000000160074007200610063006b005f0069006d0061006700650100000161000001380000001600fffffffb0000001200530065006c0065006300740069006f006e0000000028000003990000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001200720061007700200049006d0061006700650000000028000000300000000000000000fb00000012007200610077005f0069006d0061006700650000000028000000f90000000000000000fb0000001a0074007200610063006b0065006400200069006d0061006700650000000028000001d50000000000000000fb00000020006c006f006f0070005f006d0061007400630068005f0069006d0061006700650000000192000000d60000000000000000fb000000100044006900730070006c006100790073000000002800000399000000d700fffffffc000000280000011e0000000000fffffffa000000000100000002fb0000001200720061007700200049006d0061006700650000000000ffffffff0000000000000000fb0000001a0074007200610063006b0065006400200069006d0061006700650100000000000002370000000000000000fb0000001000410052005f0069006d0061006700650100000373000000160000000000000000fb0000001200720061007700200069006d006100670065010000038f000000160000000000000000fb00000020006c006f006f0070005f006d0061007400630068005f0049006d006100670065010000029f000001630000001600fffffffb0000000a0049006d00610067006501000006b7000001770000000000000000fb00000020006c006f006f0070005f006d0061007400630068005f0049006d0061006700650100000183000001250000000000000000fb000000160074007200610063006b005f0069006d00610067006501000002ae00000154000000000000000000000001000001ae000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f00000040fc0100000002fb0000000800540069006d006500000000000000073f0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000493000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1855
  X: 65
  Y: 24
  loop_match_Image:
    collapsed: false
  track_image:
    collapsed: false
