rviz2

 VINS-Mono

####
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