VINS-Mono
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Panels: 面板: - Class: rviz/Displays 显示1 Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Global Options1 Splitter Ratio: 0.465116 Tree Height: 156 - 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: 0 SyncSource: "" - Class: rviz/Displays 显示2 Help Height: 78 Name: Displays Property Tree Widget: Expanded: ~ Splitter Ratio: 0.5 Tree Height: 359 Visualization Manager: 可视化管理： Class: "" Displays: - Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 130; 130; 130 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: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: <Fixed Frame> Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 255; 0; 0 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: 0 Y: 0 Z: 0 Pose Style: None Radius: 0.03 Shaft Diameter: 0.1 Shaft Length: 0.1 Topic: /benchmark_publisher/path Unreliable: false Value: true - Alpha: 1 Autocompute Intensity Bounds: false Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 3000 Enabled: true Invert Rainbow: true Max Color: 0; 0; 0 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: history_point Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 1 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: 1 Median window: 5 Min Value: 0 Name: tracked image Normalize Range: true Queue Size: 2 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: 100 Value: true - Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 0; 255; 0 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: 0 Y: 0 Z: 0 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: 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/PointCloud Color: 0; 255; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: current_point Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 1 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: 15 Frames: All Enabled: true Marker Scale: 1 Name: TF 坐标系 Show Arrows: true Show Axes: true Show Names: true Tree: {} Update Interval: 0 Value: true - Class: rviz/Axes Enabled: true Length: 1 Name: Axes 轴 Radius: 0.1 Reference Frame: <Fixed Frame> Value: true - Class: rviz/Image Enabled: true Image Topic: /cam0/image_raw Max Value: 1 Median window: 5 Min Value: 0 Name: raw_image 原始图 Normalize Range: true Queue Size: 2 Transport Hint: raw Unreliable: false Value: true Enabled: true Global Options: Background Color: 0; 0; 0 Fixed Frame: world Frame Rate: 30 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: 1 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: 746 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: 1059 X: 101 Y: 55 raw_image: collapsed: false tracked image: collapsed: false
