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: 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: 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: 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