2025-07-12 21:01:38 +08:00
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Panels:
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|
- Class: rviz_common/Displays
|
2025-10-21 11:03:31 +08:00
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Help Height: 0
|
2025-07-12 21:01:38 +08:00
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|
Name: Displays
|
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|
Property Tree Widget:
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Expanded:
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|
- /Global Options1
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- /Status1
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- /Image1/Topic1
|
2026-02-11 15:47:50 +08:00
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- /cloudslam_reprojected1
|
2025-10-21 11:03:31 +08:00
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- /Odometry1
|
2025-09-28 19:19:07 +08:00
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- /slam1
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- /dense_depth_demo1
|
2025-07-12 21:01:38 +08:00
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Splitter Ratio: 0.5
|
2026-02-11 15:47:50 +08:00
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Tree Height: 593
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2025-07-12 21:01:38 +08:00
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- Class: rviz_common/Selection
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|
Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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|
Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
|
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Line Width: 0.029999999329447746
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|
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Value: Lines
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|
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz_default_plugins/Image
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Enabled: true
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Max Value: 1
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Median window: 5
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|
Min Value: 0
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|
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Name: Image
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|
|
Normalize Range: true
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Topic:
|
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Depth: 5
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Durability Policy: Volatile
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|
History Policy: Keep Last
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|
|
Reliability Policy: Reliable
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|
|
Value: /odin1/image
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Value: true
|
2025-09-09 21:11:04 +08:00
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|
- Class: rviz_default_plugins/Image
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|
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Enabled: false
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|
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|
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Max Value: 1
|
|
|
|
|
Median window: 5
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|
|
Min Value: 0
|
2025-09-28 19:19:07 +08:00
|
|
|
Name: Image_undistort
|
2025-09-09 21:11:04 +08:00
|
|
|
Normalize Range: true
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
|
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|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
2025-09-28 19:19:07 +08:00
|
|
|
Value: /odin1/image/undistorted
|
2025-09-09 21:11:04 +08:00
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|
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Value: false
|
2026-02-11 15:47:50 +08:00
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|
|
- Class: rviz_default_plugins/Image
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|
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|
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Enabled: false
|
|
|
|
|
Max Value: 1
|
|
|
|
|
Median window: 5
|
|
|
|
|
Min Value: 0
|
|
|
|
|
Name: cloudslam_reprojected
|
|
|
|
|
Normalize Range: true
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
|
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|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/reprojected_image
|
|
|
|
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Value: false
|
2025-07-23 19:15:59 +08:00
|
|
|
- Alpha: 1
|
|
|
|
|
Autocompute Intensity Bounds: true
|
|
|
|
|
Autocompute Value Bounds:
|
|
|
|
|
Max Value: 10
|
|
|
|
|
Min Value: -10
|
|
|
|
|
Value: true
|
|
|
|
|
Axis: Z
|
|
|
|
|
Channel Name: intensity
|
|
|
|
|
Class: rviz_default_plugins/PointCloud2
|
|
|
|
|
Color: 255; 255; 255
|
|
|
|
|
Color Transformer: Intensity
|
|
|
|
|
Decay Time: 0
|
|
|
|
|
Enabled: false
|
|
|
|
|
Invert Rainbow: false
|
|
|
|
|
Max Color: 255; 255; 255
|
2025-09-09 21:11:04 +08:00
|
|
|
Max Intensity: 239
|
2025-07-23 19:15:59 +08:00
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|
|
Min Color: 0; 0; 0
|
|
|
|
|
Min Intensity: 0
|
|
|
|
|
Name: raw
|
|
|
|
|
Position Transformer: XYZ
|
|
|
|
|
Selectable: true
|
|
|
|
|
Size (Pixels): 3
|
|
|
|
|
Size (m): 0.009999999776482582
|
|
|
|
|
Style: Points
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
2025-09-09 21:11:04 +08:00
|
|
|
Filter size: 10
|
2025-07-23 19:15:59 +08:00
|
|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/cloud_raw
|
|
|
|
|
Use Fixed Frame: true
|
|
|
|
|
Use rainbow: true
|
|
|
|
|
Value: false
|
|
|
|
|
- Alpha: 1
|
|
|
|
|
Autocompute Intensity Bounds: true
|
|
|
|
|
Autocompute Value Bounds:
|
|
|
|
|
Max Value: 1.8730175495147705
|
|
|
|
|
Min Value: -0.12252448499202728
|
|
|
|
|
Value: true
|
|
|
|
|
Axis: Z
|
|
|
|
|
Channel Name: rgb
|
|
|
|
|
Class: rviz_default_plugins/PointCloud2
|
|
|
|
|
Color: 255; 255; 255
|
|
|
|
|
Color Transformer: RGB8
|
|
|
|
|
Decay Time: 0
|
2025-10-29 10:27:41 +08:00
|
|
|
Enabled: false
|
2025-07-23 19:15:59 +08:00
|
|
|
Invert Rainbow: false
|
|
|
|
|
Max Color: 255; 255; 255
|
|
|
|
|
Max Intensity: 2.3509885615147286e-38
|
|
|
|
|
Min Color: 0; 0; 0
|
|
|
|
|
Min Intensity: 0
|
|
|
|
|
Name: render
|
|
|
|
|
Position Transformer: XYZ
|
|
|
|
|
Selectable: true
|
|
|
|
|
Size (Pixels): 3
|
|
|
|
|
Size (m): 0.009999999776482582
|
2025-09-28 19:19:07 +08:00
|
|
|
Style: Points
|
2025-07-23 19:15:59 +08:00
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
2025-09-09 21:11:04 +08:00
|
|
|
Filter size: 10
|
2025-07-23 19:15:59 +08:00
|
|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/cloud_render
|
|
|
|
|
Use Fixed Frame: true
|
|
|
|
|
Use rainbow: true
|
2025-10-29 10:27:41 +08:00
|
|
|
Value: false
|
2025-10-21 11:03:31 +08:00
|
|
|
- Class: rviz_common/Group
|
|
|
|
|
Displays:
|
|
|
|
|
- Angle Tolerance: 0.10000000149011612
|
|
|
|
|
Class: rviz_default_plugins/Odometry
|
|
|
|
|
Covariance:
|
|
|
|
|
Orientation:
|
|
|
|
|
Alpha: 0.5
|
|
|
|
|
Color: 255; 255; 127
|
|
|
|
|
Color Style: Unique
|
|
|
|
|
Frame: Local
|
|
|
|
|
Offset: 1
|
|
|
|
|
Scale: 1
|
|
|
|
|
Value: true
|
|
|
|
|
Position:
|
|
|
|
|
Alpha: 0.30000001192092896
|
|
|
|
|
Color: 204; 51; 204
|
|
|
|
|
Scale: 1
|
|
|
|
|
Value: true
|
|
|
|
|
Value: true
|
|
|
|
|
Enabled: true
|
|
|
|
|
Keep: 1
|
|
|
|
|
Name: Odometry
|
|
|
|
|
Position Tolerance: 0.10000000149011612
|
|
|
|
|
Shape:
|
|
|
|
|
Alpha: 1
|
|
|
|
|
Axes Length: 1
|
|
|
|
|
Axes Radius: 0.10000000149011612
|
|
|
|
|
Color: 255; 25; 0
|
|
|
|
|
Head Length: 0.30000001192092896
|
|
|
|
|
Head Radius: 0.10000000149011612
|
|
|
|
|
Shaft Length: 1
|
|
|
|
|
Shaft Radius: 0.05000000074505806
|
|
|
|
|
Value: Axes
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
|
|
|
|
Filter size: 10
|
|
|
|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/odometry
|
|
|
|
|
Value: true
|
|
|
|
|
- Angle Tolerance: 0.10000000149011612
|
|
|
|
|
Class: rviz_default_plugins/Odometry
|
|
|
|
|
Covariance:
|
|
|
|
|
Orientation:
|
|
|
|
|
Alpha: 0.5
|
|
|
|
|
Color: 255; 255; 127
|
|
|
|
|
Color Style: Unique
|
|
|
|
|
Frame: Local
|
|
|
|
|
Offset: 1
|
|
|
|
|
Scale: 1
|
|
|
|
|
Value: true
|
|
|
|
|
Position:
|
|
|
|
|
Alpha: 0.30000001192092896
|
|
|
|
|
Color: 204; 51; 204
|
|
|
|
|
Scale: 1
|
|
|
|
|
Value: true
|
|
|
|
|
Value: true
|
|
|
|
|
Enabled: false
|
|
|
|
|
Keep: 10
|
|
|
|
|
Name: Odometry_high
|
|
|
|
|
Position Tolerance: 0.10000000149011612
|
|
|
|
|
Shape:
|
|
|
|
|
Alpha: 1
|
|
|
|
|
Axes Length: 1
|
|
|
|
|
Axes Radius: 0.10000000149011612
|
|
|
|
|
Color: 98; 160; 234
|
|
|
|
|
Head Length: 0.30000001192092896
|
|
|
|
|
Head Radius: 0.10000000149011612
|
|
|
|
|
Shaft Length: 1
|
|
|
|
|
Shaft Radius: 0.05000000074505806
|
|
|
|
|
Value: Arrow
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
|
|
|
|
Filter size: 10
|
|
|
|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/odometry_highfreq
|
|
|
|
|
Value: false
|
|
|
|
|
- Class: rviz_default_plugins/MarkerArray
|
|
|
|
|
Enabled: false
|
|
|
|
|
Name: camera_view
|
|
|
|
|
Namespaces:
|
|
|
|
|
{}
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
|
|
|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/camera_pose_visual
|
|
|
|
|
Value: false
|
|
|
|
|
Enabled: true
|
|
|
|
|
Name: Odometry
|
2025-09-28 19:19:07 +08:00
|
|
|
- Class: rviz_common/Group
|
|
|
|
|
Displays:
|
|
|
|
|
- Alpha: 1
|
|
|
|
|
Autocompute Intensity Bounds: true
|
|
|
|
|
Autocompute Value Bounds:
|
|
|
|
|
Max Value: 10
|
|
|
|
|
Min Value: -10
|
|
|
|
|
Value: true
|
|
|
|
|
Axis: Z
|
|
|
|
|
Channel Name: intensity
|
|
|
|
|
Class: rviz_default_plugins/PointCloud2
|
|
|
|
|
Color: 255; 255; 255
|
|
|
|
|
Color Transformer: RGB8
|
|
|
|
|
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: slam_current
|
|
|
|
|
Position Transformer: XYZ
|
|
|
|
|
Selectable: true
|
|
|
|
|
Size (Pixels): 3
|
|
|
|
|
Size (m): 0.009999999776482582
|
|
|
|
|
Style: Points
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
|
|
|
|
Filter size: 10
|
|
|
|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/cloud_slam
|
|
|
|
|
Use Fixed Frame: true
|
|
|
|
|
Use rainbow: true
|
|
|
|
|
Value: true
|
|
|
|
|
- Alpha: 0.10000000149011612
|
|
|
|
|
Autocompute Intensity Bounds: true
|
|
|
|
|
Autocompute Value Bounds:
|
|
|
|
|
Max Value: 10
|
|
|
|
|
Min Value: -10
|
|
|
|
|
Value: true
|
|
|
|
|
Axis: Z
|
|
|
|
|
Channel Name: intensity
|
|
|
|
|
Class: rviz_default_plugins/PointCloud2
|
|
|
|
|
Color: 255; 255; 255
|
|
|
|
|
Color Transformer: RGB8
|
|
|
|
|
Decay Time: 10
|
2025-10-21 11:03:31 +08:00
|
|
|
Enabled: false
|
2025-09-28 19:19:07 +08:00
|
|
|
Invert Rainbow: false
|
|
|
|
|
Max Color: 255; 255; 255
|
|
|
|
|
Max Intensity: 4096
|
|
|
|
|
Min Color: 0; 0; 0
|
|
|
|
|
Min Intensity: 0
|
|
|
|
|
Name: slam_deacy
|
|
|
|
|
Position Transformer: XYZ
|
|
|
|
|
Selectable: true
|
|
|
|
|
Size (Pixels): 1
|
|
|
|
|
Size (m): 0.009999999776482582
|
|
|
|
|
Style: Points
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
|
|
|
|
Filter size: 10
|
|
|
|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/cloud_slam
|
|
|
|
|
Use Fixed Frame: true
|
|
|
|
|
Use rainbow: true
|
2025-10-21 11:03:31 +08:00
|
|
|
Value: false
|
|
|
|
|
- Class: rviz_default_plugins/MarkerArray
|
|
|
|
|
Enabled: false
|
|
|
|
|
Name: path
|
|
|
|
|
Namespaces:
|
|
|
|
|
{}
|
|
|
|
|
Topic:
|
|
|
|
|
Depth: 5
|
|
|
|
|
Durability Policy: Volatile
|
|
|
|
|
History Policy: Keep Last
|
|
|
|
|
Reliability Policy: Reliable
|
|
|
|
|
Value: /odin1/path
|
|
|
|
|
Value: false
|
2025-10-29 10:27:41 +08:00
|
|
|
Enabled: true
|
2025-07-23 19:15:59 +08:00
|
|
|
Name: slam
|
2025-09-28 19:19:07 +08:00
|
|
|
- Class: rviz_common/Group
|
|
|
|
|
Displays:
|
|
|
|
|
- Class: rviz_default_plugins/Image
|
2025-10-21 11:03:31 +08:00
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Enabled: true
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2025-09-28 19:19:07 +08:00
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: dense_depth_image
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Normalize Range: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/depth_img_competetion
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2025-10-21 11:03:31 +08:00
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Value: true
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2025-09-28 19:19:07 +08:00
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: dense_depth_cloud
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Flat Squares
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odin1/depth_img_competetion_cloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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2026-04-02 16:11:40 +08:00
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Enabled: false
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2025-09-28 19:19:07 +08:00
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Name: dense_depth_demo
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2025-10-29 10:27:41 +08:00
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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odin1_base_link:
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Value: true
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odom:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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odom:
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odin1_base_link:
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{}
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Update Interval: 0
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Value: true
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2025-07-12 21:01:38 +08:00
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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2025-10-29 10:27:41 +08:00
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Fixed Frame: odom
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2025-07-12 21:01:38 +08:00
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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Hide Inactive Objects: true
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- Class: rviz_default_plugins/MoveCamera
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- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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- Class: rviz_default_plugins/SetInitialPose
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2025-09-09 21:11:04 +08:00
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Covariance x: 0.25
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Covariance y: 0.25
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Covariance yaw: 0.06853891909122467
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2025-07-12 21:01:38 +08:00
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /clicked_point
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Transformation:
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Current:
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Class: rviz_default_plugins/TF
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Value: true
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Views:
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Current:
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Class: rviz_default_plugins/Orbit
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2025-10-29 10:27:41 +08:00
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Distance: 10.9336576461792
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2025-07-12 21:01:38 +08:00
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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2026-04-02 16:11:40 +08:00
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X: 0.2568470537662506
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Y: 2.1451337337493896
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Z: 0.3774382472038269
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2025-07-12 21:01:38 +08:00
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Focal Shape Fixed Size: false
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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2026-02-11 15:47:50 +08:00
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Pitch: 0.3953983187675476
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2025-10-29 10:27:41 +08:00
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Target Frame: odom
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2025-07-12 21:01:38 +08:00
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Value: Orbit (rviz)
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2026-02-11 15:47:50 +08:00
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Yaw: 3.230407953262329
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2025-07-12 21:01:38 +08:00
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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2025-10-21 11:03:31 +08:00
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Height: 1016
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2025-07-12 21:01:38 +08:00
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Hide Left Dock: false
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Hide Right Dock: false
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Image:
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collapsed: false
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2025-09-28 19:19:07 +08:00
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Image_undistort:
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collapsed: false
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2026-04-02 16:11:40 +08:00
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QMainWindow State: 000000ff00000000fd0000000400000000000001d40000039efc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000028e000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002d10000010a0000002800fffffffb0000002200640065006e00730065005f00640065007000740068005f0069006d006100670065000000023e0000007a0000002800fffffffb0000001e0049006d006100670065005f0075006e0064006900730074006f00720074000000028f0000014c0000002800fffffffb0000002a0063006c006f007500640073006c0061006d005f0072006500700072006f006a006500630074006500640000000310000000cb0000002800ffffff000000010000010f0000039efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000039e000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004910000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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2025-07-12 21:01:38 +08:00
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Selection:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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2026-04-02 16:11:40 +08:00
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Width: 1920
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X: 540
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Y: 124
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2026-02-11 15:47:50 +08:00
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cloudslam_reprojected:
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collapsed: false
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2025-09-09 21:11:04 +08:00
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dense_depth_image:
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2025-10-29 10:27:41 +08:00
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collapsed: false
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