forked from xtdrone/XTDrone
388 lines
12 KiB
YAML
388 lines
12 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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- /Global Options1
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- /VIOGroup1
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- /GlobalGroup1/CarModel1
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Splitter Ratio: 0.465115994
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Tree Height: 557
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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: PointCloud
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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: 355
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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: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/Axes
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Enabled: true
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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: true
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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/pose_graph
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Name: loopLink
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Namespaces:
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{}
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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: true
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Marker Topic: /loop_fusion/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: 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
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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/pose_graph_path
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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: /loop_fusion/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: /vins_estimator/path
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Unreliable: false
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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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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CameraPoseVisualization: true
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Queue Size: 100
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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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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: 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: 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: 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: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /vins_estimator/image_track
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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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- 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: 0; 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: 0.0299999993
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Name: GloablPath
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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: /globalEstimator/global_path
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Unreliable: false
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Value: true
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- Class: rviz/MarkerArray
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Enabled: true
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Marker Topic: /globalEstimator/car_model
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Name: CarModel
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Namespaces:
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{}
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Queue Size: 100
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Value: true
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Enabled: true
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Name: GlobalGroup
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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: world
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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/ThirdPersonFollower
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Distance: 32.1324883
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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: -5.43206358
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Y: -4.75211382
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Z: 0.381433994
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Focal Shape Fixed Size: true
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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: 0.639796197
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Target Frame: world
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Value: ThirdPersonFollower (rviz)
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Yaw: 3.15062141
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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: 1410
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Hide Left Dock: false
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd00000004000000000000019c000004ecfc0200000013fb000000100044006900730070006c006100790073010000002e00000274000000dd00fffffffb000000160074007200610063006b005f0069006d00610067006501000002a9000001510000001800fffffffb0000001200530065006c0065006300740069006f006e0000000028000003990000006300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001200720061007700200049006d0061006700650000000028000000300000000000000000fb00000012007200610077005f0069006d0061006700650000000028000000f90000000000000000fb0000001a0074007200610063006b0065006400200069006d0061006700650000000028000001d50000000000000000fb00000020006c006f006f0070005f006d0061007400630068005f0069006d0061006700650000000192000000d60000000000000000fb000000100044006900730070006c006100790073000000002800000399000000dd00fffffffc000000280000011e0000000000fffffffa000000000100000002fb0000001200720061007700200049006d0061006700650000000000ffffffff0000000000000000fb0000001a0074007200610063006b0065006400200069006d0061006700650100000000000002370000000000000000fb0000001000410052005f0069006d0061006700650100000373000000160000000000000000fb0000001200720061007700200069006d006100670065010000038f000000160000000000000000fb00000020006c006f006f0070005f006d0061007400630068005f0049006d0061006700650100000401000001190000001800fffffffb0000000a0049006d00610067006501000003a300000177000000000000000000000001000001ae0000022efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d0000022e000000b700fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a0000000040fc0100000002fb0000000800540069006d0065010000000000000a000000038300fffffffb0000000800540069006d006501000000000000045000000000000000000000085d000004ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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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: 2560
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X: 0
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Y: 30
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loop_match_Image:
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collapsed: false
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track_image:
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collapsed: false
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