rviz1

msckf_vio

####查看topic列表：
wj@wj-Inspiron-5437:~$ rostopic list
/benchmark_publisher/path
/cam0/image_raw
/cam1/image_raw
/firefly_sbx/image_processor/debug_stereo_image
/firefly_sbx/image_processor/features
/firefly_sbx/image_processor/tracking_info
/firefly_sbx/vio/feature_point_cloud
/firefly_sbx/vio/gt_odom
/firefly_sbx/vio/mocap_odom
/firefly_sbx/vio/odom
/imu0
/rosout
/rosout_agg
/tf

####rviz_euroc_config.rviz
Panels:                             面板:
  - Class: rviz/Displays                 显示
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
        - /Ground Truth1
      Splitter Ratio: 0.5  
    Tree Height: 503
  - Class: rviz/Selection                选择     
    Name: Selection
  - Class: rviz/Tool Properties          工具属性
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679 
  - Class: rviz/Views                    概观
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time                    时间
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: VIO Points
Visualization Manager:                可视化管理：
  Class: ""
  Displays:
    - Alpha: 0.1                       
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: 1m Grid                  1m格网格，阿尔法0.1，一行（列）有20个单元
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 20
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.7                    
      Cell Size: 5
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style: 
        Line Width: 0.03
        Value: Lines
      Name: 5m Grid                  5m网格，阿尔法0.7，一行（列）有4个平面单元
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 4
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF               
      Enabled: true
      Frame Timeout: 1000
      Frames:
        All Enabled: false
        odom:                  观测帧
          Value: true
        world:                 世界帧
          Value: true
      Marker Scale: 4
      Name: TF                         坐标系
      Show Arrows: false       箭头
      Show Axes: true           轴
      Show Names: true
      Tree:
        world:
          odom:
            {}
      Update Interval: 0
      Value: true
    - Angle Tolerance: 0       角度公差
      Class: rviz/Odometry
      Color: 255; 25; 0
      Enabled: false
      Keep: 200
      Length: 1
      Name: VIO                视觉惯导里程计
      Position Tolerance: 0
      Topic: /firefly_sbx/vio/odom
      Value: false
    - Angle Tolerance: 0
      Class: rviz/Odometry
      Color: 255; 25; 0
      Enabled: true
      Keep: 1
      Length: 1
      Name: Covariance          协方差       
      Position Tolerance: 0
      Topic: /firefly_sbx/vio/odom
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true   自动计算强度界限
      Autocompute Value Bounds:            自动计算值界限
        Max Value: 3
        Min Value: -2
        Value: false
      Axis: Z
      Channel Name: z
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 30                        衰减时间
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 26.7646
      Min Color: 0; 0; 0
      Min Intensity: -4.65563
      Name: VIO Points                         视觉惯导里程计特征点云
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 1
      Style: Points
      Topic: /firefly_sbx/vio/feature_point_cloud
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /firefly_sbx/image_processor/debug_stereo_image
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Stereo Features            立体图像中的特征
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Angle Tolerance: 0
      Class: rviz/Odometry
      Color: 255; 25; 0
      Enabled: true
      Keep: 1
      Length: 1
      Name: Ground Truth                    真实值
      Position Tolerance: 0
      Topic: /benchmark/odometry
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 170; 255; 0
      Enabled: false
      Head Diameter: 0.3
      Head Length: 0.2
      Length: 0.3
      Line Style: Lines
      Line Width: 0.03
      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/path
      Unreliable: false
      Value: false
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: ""
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: world
    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: 22.5584
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.804641
        Y: -1.53353
        Z: 0.74186
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 1.5598
      Target Frame: odom
      Value: Orbit (rviz)
      Yaw: 6.278
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 716
  Hide Left Dock: true
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001b300000286fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000286000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a2000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000053d0000016dfc0100000004fb0000001e00530074006500720065006f00200046006500610074007500720065007303000001a1000001810000038a0000013cfb0000001e00530074006500720065006f0020004600650061007400750072006500730100000000000005510000000000000000fb0000000800540069006d0065000000000000000556000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005150000028600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Stereo Features:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1301
  X: 1467
  Y: 135