Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Frames1
        - /VIO1/Shape1
        - /Ground Truth1
        - /Ground Truth1/Shape1
      Splitter Ratio: 0.5
    Tree Height: 843
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679016
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: VIO Points
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.100000001
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: 1m Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 20
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 0.699999988
      Cell Size: 5
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        Value: Lines
      Name: 5m Grid
      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:
          Value: true
        world:
          Value: true
      Marker Scale: 4
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: true
      Tree:
        world:
          {}
      Update Interval: 0
      Value: true
    - Angle Tolerance: 0
      Class: rviz/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: false
        Position:
          Alpha: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: false
      Enabled: false
      Keep: 200
      Name: VIO
      Position Tolerance: 0
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 255; 25; 0
        Head Length: 0.100000001
        Head Radius: 0.100000001
        Shaft Length: 0.5
        Shaft Radius: 0.0500000007
        Value: Arrow
      Topic: /firefly_sbx/vio/odom
      Unreliable: false
      Value: false
    - Angle Tolerance: 0
      Class: rviz/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: false
        Position:
          Alpha: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 1
      Name: Covariance
      Position Tolerance: 0
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 255; 25; 0
        Head Length: 0.200000003
        Head Radius: 0.200000003
        Shaft Length: 1
        Shaft Radius: 0.100000001
        Value: Arrow
      Topic: /firefly_sbx/vio/odom
      Unreliable: false
      Value: true
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        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
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 26.7646065
      Min Color: 0; 0; 0
      Min Intensity: -4.65562725
      Name: VIO Points
      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
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Angle Tolerance: 0
      Class: rviz/Odometry
      Covariance:
        Orientation:
          Alpha: 0.5
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: true
        Position:
          Alpha: 0.300000012
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: false
      Enabled: true
      Keep: 1
      Name: Ground Truth
      Position Tolerance: 0
      Shape:
        Alpha: 1
        Axes Length: 1
        Axes Radius: 0.100000001
        Color: 0; 170; 255
        Head Length: 0.200000003
        Head Radius: 0.200000003
        Shaft Length: 1
        Shaft Radius: 0.0500000007
        Value: Arrow
      Topic: /benchmark/odometry
      Unreliable: false
      Value: true
    - Alpha: 1
      Buffer Length: 1
      Class: rviz/Path
      Color: 170; 255; 0
      Enabled: false
      Head Diameter: 0.300000012
      Head Length: 0.200000003
      Length: 0.300000012
      Line Style: Lines
      Line Width: 0.0299999993
      Name: Ground Truth Path
      Offset:
        X: 0
        Y: 0
        Z: 0
      Pose Color: 255; 85; 255
      Pose Style: None
      Radius: 0.0299999993
      Shaft Diameter: 0.100000001
      Shaft Length: 0.100000001
      Topic: /benchmark/path
      Unreliable: false
      Value: false
  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: 15.6398182
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.80464071
        Y: -1.53352785
        Z: 0.741859734
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 1.55979633
      Target Frame: odom
      Value: Orbit (rviz)
      Yaw: 6.27799845
    Saved: ~
Window Geometry:
  Displays:
    collapsed: true
  Height: 1056
  Hide Left Dock: true
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd0000000400000000000001b3000003dafc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000028000003da000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a2000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000053d0000016dfc0100000004fb0000001e00530074006500720065006f002000460065006100740075007200650073030000000a000002dc0000038a0000013cfb0000001e00530074006500720065006f0020004600650061007400750072006500730100000000000005510000000000000000fb0000000800540069006d00650000000000000005560000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000780000003da00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Stereo Features:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1920
  X: 0
  Y: 24