514 lines
16 KiB
YAML
514 lines
16 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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- /LoopGroup1
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- /LoopGroup1/loopLink1/Namespaces1
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- /VIOGroup1
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Splitter Ratio: 0.465115994
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Tree Height: 242
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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: 0.588679016
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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: track_image
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded: ~
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Splitter Ratio: 0.5
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Tree Height: 359
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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: 1
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Class: rviz/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: 0.0299999993
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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: 80
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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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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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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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Update Interval: 0
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Value: true
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- Class: rviz/Axes
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Enabled: false
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Length: 0.5
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Name: Axes
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Radius: 0.0500000007
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Reference Frame: <Fixed Frame>
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Value: false
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- Class: rviz/Group
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Displays:
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /loop_fusion_node/pose_graph
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Name: loopLink
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Namespaces:
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CameraPoseVisualization: true
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Queue Size: 100
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Value: true
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- Class: rviz/MarkerArray
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Enabled: false
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Marker Topic: /loop_fusion_node/camera_pose_visual
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Name: loopCamera
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Namespaces:
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{}
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Queue Size: 100
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Value: false
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- Alpha: 1
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Axes Length: 0.200000003
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Axes Radius: 0.0199999996
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Class: rviz/PoseWithCovariance
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Color: 255; 25; 0
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.300000012
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: false
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Enabled: true
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Head Length: 0.300000012
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Head Radius: 0.100000001
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Name: PoseWithCovariance
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Shaft Length: 1
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Shaft Radius: 0.0500000007
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Shape: Axes
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Topic: /ov_secondary/poseimu
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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: 204; 0; 0
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Enabled: true
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0399999991
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Name: loopPath 1
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /loop_fusion_node/path_1
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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: 255; 170; 0
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Enabled: true
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0399999991
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Name: loopPath 2
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /loop_fusion_node/path_2
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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: 170; 0; 255
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Enabled: true
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0399999991
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Name: loopPath 3
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /loop_fusion_node/path_3
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Unreliable: false
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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: -0.00362956035
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Min Value: -0.155465692
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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: FlatColor
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Decay Time: 10
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Enabled: false
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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: PointCloud
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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): 0.00999999978
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Style: Points
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Topic: /loop_fusion/margin_cloud_loop_rect
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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: false
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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: 0; 255; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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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: PointCloud
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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): 4
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Size (m): 0.00999999978
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Style: Points
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Topic: /loop_fusion/point_cloud_loop_rect
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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: false
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- Class: rviz/Image
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Enabled: true
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Image Topic: /ov_secondary/match_image
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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: loop_match_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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Enabled: true
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Name: LoopGroup
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- Class: rviz/Group
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Displays:
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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: 25; 255; 0
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Enabled: true
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0299999993
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Name: VIOPath
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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: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /ov_msckf/pathimu
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Unreliable: false
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Value: true
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- Class: rviz/MarkerArray
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Enabled: false
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Marker Topic: /vins_estimator/camera_pose_visual
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Name: CameraMarker
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Namespaces:
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{}
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Queue Size: 100
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Value: false
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- Alpha: 1
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Axes Length: 0.200000003
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Axes Radius: 0.0199999996
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Class: rviz/PoseWithCovariance
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Color: 255; 25; 0
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.300000012
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: false
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Enabled: false
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Head Length: 0.300000012
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Head Radius: 0.100000001
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Name: PoseWithCovariance
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Shaft Length: 1
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Shaft Radius: 0.0500000007
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Shape: Axes
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Topic: /ov_msckf/poseimu
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Unreliable: false
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Value: false
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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: false
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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: PointCloud
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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): 0.00999999978
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Style: Points
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Topic: /vins_estimator/point_cloud
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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: false
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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; 255
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Color Transformer: Intensity
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Decay Time: 1
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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: PointCloud2
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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): 0.00999999978
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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/PointCloud
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Color: 0; 255; 0
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Color Transformer: FlatColor
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Decay Time: 100
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Enabled: false
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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: HistoryPointCloud
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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): 1
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Size (m): 0.00999999978
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Style: Points
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Topic: /vins_estimator/margin_cloud
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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: false
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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: track_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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Enabled: true
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Name: VIOGroup
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Enabled: true
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Global Options:
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Background Color: 0; 0; 0
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Default Light: true
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Fixed Frame: global
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Frame Rate: 30
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Name: root
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Tools:
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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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Topic: /initialpose
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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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Class: rviz/Orbit
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Distance: 19.7382278
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Enable Stereo Rendering:
|
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Stereo Eye Separation: 0.0599999987
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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: 0.0500000007
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Invert Z Axis: false
|
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.855398118
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.890398085
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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: 1056
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 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Selection:
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collapsed: false
|
|
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: 1855
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X: 65
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Y: 24
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loop_match_Image:
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collapsed: false
|
|
track_image:
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|
collapsed: false
|