320 lines
8.8 KiB
Plaintext
320 lines
8.8 KiB
Plaintext
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /TF1/Frames1
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- /VIO1/Shape1
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- /Ground Truth1
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- /Ground Truth1/Shape1
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Splitter Ratio: 0.5
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Tree Height: 843
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
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- Class: rviz/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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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: VIO Points
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.100000001
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Cell Size: 1
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Class: rviz/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: 0.0299999993
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Value: Lines
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Name: 1m 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: 20
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 0.699999988
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Cell Size: 5
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Class: rviz/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: 0.0299999993
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Value: Lines
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Name: 5m 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: 4
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Reference Frame: <Fixed Frame>
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 1000
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Frames:
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All Enabled: false
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odom:
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Value: true
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world:
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Value: true
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Marker Scale: 4
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Name: TF
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Show Arrows: false
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Show Axes: true
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Show Names: true
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Tree:
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world:
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{}
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Update Interval: 0
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Value: true
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- Angle Tolerance: 0
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Class: rviz/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: false
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Position:
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Alpha: 0.300000012
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: false
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Enabled: false
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Keep: 200
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Name: VIO
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Position Tolerance: 0
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Shape:
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Alpha: 1
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Axes Length: 1
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Axes Radius: 0.100000001
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Color: 255; 25; 0
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Head Length: 0.100000001
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Head Radius: 0.100000001
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Shaft Length: 0.5
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Shaft Radius: 0.0500000007
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Value: Arrow
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Topic: /firefly_sbx/vio/odom
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Unreliable: false
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Value: false
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- Angle Tolerance: 0
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Class: rviz/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: false
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Position:
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Alpha: 0.300000012
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: true
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Enabled: true
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Keep: 1
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Name: Covariance
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Position Tolerance: 0
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Shape:
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Alpha: 1
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Axes Length: 1
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Axes Radius: 0.100000001
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Color: 255; 25; 0
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Head Length: 0.200000003
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Head Radius: 0.200000003
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Shaft Length: 1
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Shaft Radius: 0.100000001
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Value: Arrow
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Topic: /firefly_sbx/vio/odom
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Unreliable: false
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Value: true
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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: 3
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Min Value: -2
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Value: false
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Axis: Z
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Channel Name: z
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: AxisColor
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Decay Time: 30
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 26.7646065
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Min Color: 0; 0; 0
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Min Intensity: -4.65562725
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Name: VIO Points
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 1
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Style: Points
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Topic: /firefly_sbx/vio/feature_point_cloud
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/Image
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Enabled: true
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Image Topic: /firefly_sbx/image_processor/debug_stereo_image
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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: Stereo Features
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Normalize Range: true
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Queue Size: 2
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Transport Hint: raw
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Unreliable: false
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Value: true
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- Angle Tolerance: 0
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Class: rviz/Odometry
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Covariance:
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Orientation:
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Alpha: 0.5
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Color: 255; 255; 127
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Color Style: Unique
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Frame: Local
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Offset: 1
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Scale: 1
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Value: true
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Position:
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Alpha: 0.300000012
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Color: 204; 51; 204
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Scale: 1
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Value: true
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Value: false
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Enabled: true
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Keep: 1
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Name: Ground Truth
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Position Tolerance: 0
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Shape:
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Alpha: 1
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Axes Length: 1
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Axes Radius: 0.100000001
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Color: 0; 170; 255
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Head Length: 0.200000003
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Head Radius: 0.200000003
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Shaft Length: 1
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Shaft Radius: 0.0500000007
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Value: Arrow
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Topic: /benchmark/odometry
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Unreliable: false
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Value: true
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- Alpha: 1
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Buffer Length: 1
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Class: rviz/Path
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Color: 170; 255; 0
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Enabled: false
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Head Diameter: 0.300000012
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Head Length: 0.200000003
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Length: 0.300000012
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Line Style: Lines
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Line Width: 0.0299999993
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Name: Ground Truth Path
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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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Pose Color: 255; 85; 255
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Pose Style: None
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Radius: 0.0299999993
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Shaft Diameter: 0.100000001
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Shaft Length: 0.100000001
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Topic: /benchmark/path
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Unreliable: false
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Value: false
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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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Fixed Frame: world
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 15.6398182
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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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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X: 0.80464071
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Y: -1.53352785
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Z: 0.741859734
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 1.55979633
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Target Frame: odom
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Value: Orbit (rviz)
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Yaw: 6.27799845
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: true
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Height: 1056
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Hide Left Dock: true
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Hide Right Dock: true
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QMainWindow State: 000000ff00000000fd0000000400000000000001b3000003dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000003da000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a2000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000053d0000016dfc0100000004fb0000001e00530074006500720065006f002000460065006100740075007200650073030000000a000002dc0000038a0000013cfb0000001e00530074006500720065006f0020004600650061007400750072006500730100000000000005510000000000000000fb0000000800540069006d00650000000000000005560000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Stereo Features:
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collapsed: false
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Time:
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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: true
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Width: 1920
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X: 0
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Y: 24
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