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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