Panels: - Class: rviz/Displays Help Height: 85 Name: Displays Property Tree Widget: Expanded: - /Links1 - /Visual Feature1 - /Visual Odometry1 - /Lidar Odometry1 - /Loop Closure1 Splitter Ratio: 0.45996275544166565 Tree Height: 742 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties Expanded: ~ Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz/Views Expanded: - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: "" Preferences: PromptSaveOnExit: true Toolbars: toolButtonStyle: 2 Visualization Manager: Class: "" Displays: - Class: rviz/Group Displays: - Class: rviz/Axes Enabled: true Length: 1 Name: odom Radius: 0.30000001192092896 Reference Frame: odom Value: true - Class: rviz/Axes Enabled: true Length: 1 Name: base_link Radius: 0.30000001192092896 Reference Frame: base_link Value: true Enabled: true Name: Links - Class: rviz/Group Displays: - Alpha: 1 Autocompute Intensity Bounds: false 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: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 255; 85; 255 Min Intensity: -1 Name: Feature cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 10 Size (m): 1 Style: Points Topic: /lvi_sam/vins/depth/depth_feature Unreliable: false Use Fixed Frame: true Use rainbow: 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/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 205 Min Color: 0; 0; 0 Min Intensity: 0 Name: Depth cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.10000000149011612 Style: Points Topic: /lvi_sam/vins/depth/depth_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Class: rviz/Image Enabled: true Image Topic: /lvi_sam/vins/feature/feature_img Max Value: 1 Median window: 5 Min Value: 0 Name: Image Feature Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: true - Class: rviz/Image Enabled: false Image Topic: /lvi_sam/vins/depth/depth_image Max Value: 1 Median window: 5 Min Value: 0 Name: Image Depth Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: false Enabled: true Name: Visual Feature - Class: rviz/Group Displays: - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 16.52329444885254 Min Value: 0.6178178787231445 Value: false Axis: Z Channel Name: intensity Class: rviz/PointCloud Color: 0; 85; 255 Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 1 Min Color: 255; 85; 255 Min Intensity: 0 Name: Feature cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 15 Size (m): 0.30000001192092896 Style: Points Topic: /lvi_sam/vins/odometry/point_cloud Unreliable: false Use Fixed Frame: false Use rainbow: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 16.52329444885254 Min Value: 0.6178178787231445 Value: false Axis: Z Channel Name: intensity Class: rviz/PointCloud Color: 255; 255; 255 Color Transformer: AxisColor Decay Time: 300 Enabled: false Invert Rainbow: false Max Color: 85; 255; 0 Max Intensity: 0 Min Color: 255; 85; 255 Min Intensity: 0 Name: History cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 5 Size (m): 0.009999999776482582 Style: Points Topic: /lvi_sam/vins/odometry/history_cloud Unreliable: false Use Fixed Frame: true Use rainbow: false Value: false Enabled: true Name: Visual Odometry - Class: rviz/Group Displays: - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 85; 255; 255 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.10000000149011612 Name: Path (global) Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /lvi_sam/lidar/mapping/path Unreliable: false Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 0; 127 Enabled: true Head Diameter: 0.30000001192092896 Head Length: 0.20000000298023224 Length: 0.30000001192092896 Line Style: Billboards Line Width: 0.10000000149011612 Name: Path (local) Offset: X: 0 Y: 0 Z: 0 Pose Color: 255; 85; 255 Pose Style: None Radius: 0.029999999329447746 Shaft Diameter: 0.10000000149011612 Shaft Length: 0.10000000149011612 Topic: /lvi_sam/lidar/imu/path Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10.397632598876953 Min Value: -2.5180835723876953 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 97 Min Color: 0; 0; 0 Min Intensity: 0 Name: Cloud (raw) Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 Size (m): 0.30000001192092896 Style: Points Topic: /lvi_sam/lidar/deskew/cloud_deskewed Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - Alpha: 0.20000000298023224 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: 100 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 84 Min Color: 0; 0; 0 Min Intensity: 0 Name: Dense Map Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 Size (m): 0.009999999776482582 Style: Points Topic: /lvi_sam/lidar/mapping/cloud_registered 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/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 100 Min Color: 0; 0; 0 Min Intensity: 0.5 Name: Global Map Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.009999999776482582 Style: Points Topic: /lvi_sam/lidar/mapping/map_global Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 24.469348907470703 Min Value: -2.4048190116882324 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 170; 255 Color Transformer: FlatColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 255 Min Color: 0; 0; 0 Min Intensity: 0 Name: Local Map Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 2 Size (m): 0.009999999776482582 Style: Points Topic: /lvi_sam/lidar/mapping/map_local Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false Enabled: true Name: Lidar Odometry - Class: rviz/Group Displays: - Class: rviz/Image Enabled: false Image Topic: /lvi_sam/vins/loop/match_image Max Value: 1 Median window: 5 Min Value: 0 Name: Loop image Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: false - Class: rviz/MarkerArray Enabled: true Marker Topic: /lvi_sam/lidar/mapping/loop_closure_constraints Name: Loop matches Namespaces: {} Queue Size: 100 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/PointCloud2 Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 113.4192886352539 Min Color: 0; 0; 0 Min Intensity: 0 Name: History cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.30000001192092896 Style: Points Topic: /lvi_sam/lidar/mapping/loop_closure_history_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10.397632598876953 Min Value: -2.5180835723876953 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: Intensity Decay Time: 0 Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 100 Min Color: 0; 0; 0 Min Intensity: 0 Name: Closed cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 5 Size (m): 0.30000001192092896 Style: Points Topic: /lvi_sam/lidar/mapping/loop_closure_corrected_cloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false Enabled: true Name: Loop Closure Enabled: true Global Options: Background Color: 0; 0; 0 Default Light: true Fixed Frame: odom Frame Rate: 30 Name: root Tools: - Class: rviz/Interact Hide Inactive Objects: true - Class: rviz/FocusCamera Value: true Views: Current: Class: rviz/Orbit Distance: 43.63492965698242 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 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: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 Pitch: 0.7853981852531433 Target Frame: base_link Value: Orbit (rviz) Yaw: 0.7853981852531433 Saved: ~ Window Geometry: Displays: collapsed: false Height: 1440 Hide Left Dock: false Hide Right Dock: true Image Depth: collapsed: false Image Feature: collapsed: false Loop image: collapsed: false QMainWindow State: 000000ff00000000fd00000004000000000000023900000538fc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006e00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004700000382000000f100fffffffb0000001a0049006d0061006700650020004600650061007400750072006501000003d0000001af0000001900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004c006f006f007000200069006d00610067006500000004790000010a0000001900fffffffb000000160049006d00610067006500200044006500700074006800000003b7000001cc0000001900fffffffb0000000a0049006d00610067006501000004a3000000dc0000000000000000000000010000011100000551fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002e00000551000000c200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b000000040fc0100000002fb0000000800540069006d00650000000000000004b00000037100fffffffb0000000800540069006d00650100000000000004500000000000000000000006a70000053800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: true Width: 2279 X: 895 Y: 155