lvi-sam/launch/include/config/rviz.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 87
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Lidar Odometry1
        - /Loop Closure1
      Splitter Ratio: 0.45996275544166565
    Tree Height: 257
  - 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:
        - Alpha: 1
          Class: rviz/Axes
          Enabled: true
          Length: 1
          Name: odom
          Radius: 0.30000001192092896
          Reference Frame: odom
          Value: true
        - Alpha: 1
          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
          Min Color: 0; 0; 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: true
          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: true
      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
          Min Color: 255; 85; 255
          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
          Min Color: 255; 85; 255
          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
          Queue Size: 10
          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
          Queue Size: 10
          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
          Min Color: 0; 0; 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
          Min Color: 0; 0; 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
          Min Color: 0; 0; 0
          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
          Min Color: 0; 0; 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
          Min Color: 0; 0; 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
          Min Color: 0; 0; 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
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 25; 255; 0
      Enabled: false
      Head Diameter: 0.30000001192092896
      Head Length: 0.20000000298023224
      Length: 0.30000001192092896
      Line Style: Lines
      Line Width: 0.029999999329447746
      Name: Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Queue Size: 10
      Radius: 0.029999999329447746
      Shaft Diameter: 0.10000000149011612
      Shaft Length: 0.10000000149011612
      Topic: /lvi_sam/vins/odometry/path
      Unreliable: false
      Value: false
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: false
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: false
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        base_link:
          Value: true
        chassis_link:
          Value: true
        imu_enu_link:
          Value: true
        imu_link:
          Value: true
        loam_camera:
          Value: true
        navsat_link:
          Value: true
        realsense_link:
          Value: true
        velodyne:
          Value: true
      Marker Alpha: 1
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: true
  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/XYOrbit
      Distance: 44.36520004272461
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 3.509819746017456
        Y: -2.2705488204956055
        Z: -9.500647138338536e-06
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 1.4397958517074585
      Target Frame: base_link
      Yaw: 0.7017598152160645
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1055
  Hide Left Dock: false
  Hide Right Dock: true
  Image Depth:
    collapsed: false
  Image Feature:
    collapsed: false
  Loop image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd000000040000000000000239000003cefc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000026000001a90000010101000003fb0000001a0049006d0061006700650020004600650061007400750072006501000001d0000001180000002201000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000014004c006f006f007000200069006d0061006700650000000202000001070000002201000003fb000000160049006d00610067006500200044006500700074006801000002e90000010b0000002201000003fb0000000a0049006d00610067006501000004a3000000dc00000000000000000000000100000111000003b1fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000026000003b1000000db01000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b000000040fc0100000002fb0000000800540069006d00650000000000000004b00000056501000003fb0000000800540069006d0065010000000000000450000000000000000000000546000003ce00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1920
  X: 1920
  Y: 0