rtabmap_ros/launch/config/demo_stereo_outdoor.rviz

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
        - /Info1
      Splitter Ratio: 0.5
    Tree Height: 438
  - 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: Image
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        az3_base_link:
          Value: true
        az3_odom:
          Value: true
        base_footprint:
          Value: true
        base_laser_link:
          Value: true
        base_link:
          Value: true
        map:
          Value: true
        odom:
          Value: true
        stereo_camera:
          Value: true
        stereo_camera_base:
          Value: true
        wheelLB_linkWheel_link:
          Value: true
        wheelLB_wheel_link:
          Value: true
        wheelLF_linkWheel_link:
          Value: true
        wheelLF_wheel_link:
          Value: true
        wheelRB_linkWheel_link:
          Value: true
        wheelRB_wheel_link:
          Value: true
        wheelRF_linkWheel_link:
          Value: true
        wheelRF_wheel_link:
          Value: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        map:
          odom:
            base_footprint:
              base_link:
                base_laser_link:
                  {}
                stereo_camera_base:
                  stereo_camera:
                    {}
                wheelLB_linkWheel_link:
                  wheelLB_wheel_link:
                    {}
                wheelLF_linkWheel_link:
                  wheelLF_wheel_link:
                    {}
                wheelRB_linkWheel_link:
                  wheelRB_wheel_link:
                    {}
                wheelRF_linkWheel_link:
                  wheelRF_wheel_link:
                    {}
      Update Interval: 0
      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: rtabmap/MapCloud
      Cloud decimation: 4
      Cloud max depth (m): 4
      Cloud voxel size (m): 0
      Color: 255; 255; 255
      Color Transformer: RGB8
      Download graph: false
      Download map: false
      Enabled: true
      Filter floor (m): 0
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: MapCloud
      Node filtering angle (degrees): 30
      Node filtering radius (m): 0.2
      Position Transformer: XYZ
      Size (Pixels): 3
      Size (m): 0.01
      Style: Points
      Topic: /rtabmap/mapData_optimized
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Alpha: 1
      Class: rtabmap/MapGraph
      Color: 25; 255; 0
      Enabled: true
      Name: MapGraph
      Topic: /rtabmap/mapData_optimized
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /stereo_camera/left/image_rect_color
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Value: true
    - Alpha: 0.7
      Class: rviz/Map
      Color Scheme: map
      Draw Behind: false
      Enabled: false
      Name: Map
      Topic: /map
      Value: false
    - Class: rtabmap/Info
      Enabled: true
      Name: Info
      Topic: /rtabmap/info
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: map
    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: rtabmap/OrbitOriented
      Distance: 6.60197
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.06
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.109544
        Y: 0.145557
        Z: 0.113349
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.455398
      Target Frame: base_footprint
      Value: OrbitOriented (rtabmap)
      Yaw: 3.1304
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 872
  Hide Left Dock: false
  Hide Right Dock: false
  Image:
    collapsed: false
  QMainWindow State: 000000ff00000000fd00000004000000000000013c00000322fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000245000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000273000000d70000001600ffffff000000010000010f000002edfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002ed000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c40000003efc0100000002fb0000000800540069006d00650000000000000004c4000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003fb0000032200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1341
  X: 147
  Y: 48