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fixed vector size mismatch between matched and status vectors

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admin1
2022-08-22 11:28:34 +03:00
commit 1b13777c36
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config/vins_rviz_config.rviz Normal file
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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: 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
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