rviz2
VINS-Mono
####
Panels: 面板:
- Class: rviz/Displays 显示1
Help Height:
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
Splitter Ratio: 0.465116
Tree Height:
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode:
SyncSource: ""
- Class: rviz/Displays 显示2
Help Height:
Name: Displays
Property Tree Widget:
Expanded: ~
Splitter Ratio: 0.5
Tree Height:
Visualization Manager: 可视化管理：
Class: ""
Displays:
- Alpha: 0.5
Cell Size:
Class: rviz/Grid
Color: ; ;
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid 网格，阿尔法0.5，一行（列）有10个单元
Normal Cell Count:
Offset:
X:
Y:
Z:
Plane: XY
Plane Cell Count:
Reference Frame: <Fixed Frame>
Value: true
- Alpha:
Buffer Length:
Class: rviz/Path
Color: ; ;
Enabled: true
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.5
Name: ground_truth_path 真实路径
Offset:
X:
Y:
Z:
Pose Style: None
Radius: 0.03
Shaft Diameter: 0.1
Shaft Length: 0.1
Topic: /benchmark_publisher/path
Unreliable: false
Value: true
- Alpha:
Autocompute Intensity Bounds: false
Autocompute Value Bounds:
Max Value:
Min Value: -
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud
Color: ; ;
Color Transformer: FlatColor
Decay Time:
Enabled: true
Invert Rainbow: true
Max Color: ; ;
Max Intensity:
Min Color: ; ;
Min Intensity:
Name: history_point
Position Transformer: XYZ
Queue Size:
Selectable: true
Size (Pixels):
Size (m): 0.5
Style: Points
Topic: /vins_estimator/history_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: false
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /feature_tracker/feature_img
Max Value:
Median window:
Min Value:
Name: tracked image
Normalize Range: true
Queue Size:
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /vins_estimator/camera_pose_visual
Name: camera_visual
Namespaces:
{}
Queue Size:
Value: true
- Alpha:
Buffer Length:
Class: rviz/Path
Color: ; ;
Enabled: true
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.03
Name: Path 跟踪路径
Offset:
X:
Y:
Z:
Pose Style: None
Radius: 0.03
Shaft Diameter: 0.1
Shaft Length: 0.1
Topic: /vins_estimator/path
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /vins_estimator/pose_graph
Name: loop_link
Namespaces:
{}
Queue Size:
Value: true
- Alpha:
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value:
Min Value: -
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud
Color: ; ;
Color Transformer: FlatColor
Decay Time:
Enabled: true
Invert Rainbow: false
Max Color: ; ;
Max Intensity:
Min Color: ; ;
Min Intensity:
Name: current_point
Position Transformer: XYZ
Queue Size:
Selectable: true
Size (Pixels):
Size (m): 0.01
Style: Points
Topic: /vins_estimator/point_cloud
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout:
Frames:
All Enabled: true
Marker Scale:
Name: TF 坐标系
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval:
Value: true
- Class: rviz/Axes
Enabled: true
Length:
Name: Axes 轴
Radius: 0.1
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/Image
Enabled: true
Image Topic: /cam0/image_raw
Max Value:
Median window:
Min Value:
Name: raw_image 原始图
Normalize Range: true
Queue Size:
Transport Hint: raw
Unreliable: false
Value: true
Enabled: true
Global Options:
Background Color: ; ;
Fixed Frame: world
Frame Rate:
Name: root
Tools:
- 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: 20.5065
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance:
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 1.21347
Y: -1.35133
Z: 1.5734
Name: Current View
Near Clip Distance: 0.01
Pitch: 1.1848
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.1181
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height:
Hide Left Dock: false
Hide Right Dock: true
QMainWindow State: 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
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width:
X:
Y:
raw_image:
collapsed: false
tracked image:
collapsed: false
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