forked from KumarRobotics/msckf_vio
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathrviz_fla_config.rviz
263 lines (263 loc) · 7.5 KB
/
rviz_fla_config.rviz
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /TF1/Frames1
- /VIO1/Shape1
- /VIO Points1
- /VIO Points1/Autocompute Value Bounds1
Splitter Ratio: 0.5
Tree Height: 808
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679016
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Stereo Features
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.100000001
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: 1m Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 700
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.699999988
Cell Size: 10
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.0299999993
Value: Lines
Name: 10m Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 70
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 1000
Frames:
All Enabled: false
odom:
Value: true
vision:
Value: true
Marker Scale: 20
Name: TF
Show Arrows: false
Show Axes: true
Show Names: true
Tree:
vision:
odom:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.300000012
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 400
Name: VIO
Position Tolerance: 0
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.300000012
Shaft Length: 3.5
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /fla/vio/odom
Unreliable: false
Value: true
- Angle Tolerance: 0
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: false
Position:
Alpha: 0.5
Color: 204; 51; 204
Scale: 1
Value: true
Value: true
Enabled: true
Keep: 1
Name: Covariance
Position Tolerance: 0
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.100000001
Color: 255; 25; 0
Head Length: 0.300000012
Head Radius: 0.100000001
Shaft Length: 1
Shaft Radius: 0.0500000007
Value: Arrow
Topic: /fla/vio/odom
Unreliable: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -5
Value: false
Axis: Z
Channel Name: z
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: AxisColor
Decay Time: 30
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 26.7646065
Min Color: 0; 0; 0
Min Intensity: -4.65562725
Name: VIO Points
Position Transformer: XYZ
Queue Size: 1
Selectable: true
Size (Pixels): 3
Size (m): 1
Style: Points
Topic: /fla/vio/feature_point_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /fla/image_processor/debug_stereo_image
Max Value: 1
Median window: 5
Min Value: 0
Name: Stereo Features
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: vision
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 98.0585938
Enable Stereo Rendering:
Stereo Eye Separation: 0.0599999987
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -26.1133022
Y: -6.50123549
Z: -17.9633904
Focal Shape Fixed Size: true
Focal Shape Size: 0.0500000007
Name: Current View
Near Clip Distance: 0.00999999978
Pitch: 1.19979477
Target Frame: odom
Value: Orbit (rviz)
Yaw: 4.71076918
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height: 1056
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001b3000003b7fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000003b7000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a2000001fcfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002b000001fc000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005b7000001cffc0100000004fb0000001e00530074006500720065006f002000460065006100740075007200650073030000000c000002400000043f000001d9fb0000001e00530074006500720065006f0020004600650061007400750072006500730100000000000005510000000000000000fb0000000800540069006d00650000000000000005560000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Stereo Features:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 1920
X: 0
Y: 24