Panels:
  - Class: rviz/Displays
    Help Height: 143
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /SLAM odom1/Covariance1/Position1
      Splitter Ratio: 0.658823549747467
    Tree Height: 668
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.5886790156364441
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: SLAM registered points
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 5
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 500
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: false
        base_link:
          Value: true
        gps:
          Value: false
        odom:
          Value: true
        velodyne:
          Value: false
      Marker Scale: 10
      Name: TF
      Show Arrows: false
      Show Axes: true
      Show Names: true
      Tree:
        odom:
          base_link:
            gps:
              {}
            velodyne:
              {}
      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: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 0
      Enabled: false
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 255
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: LiDAR points
      Position Transformer: XYZ
      Queue Size: 5
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.029999999329447746
      Style: Points
      Topic: /lidar_points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: false
    - Alpha: 1
      Autocompute Intensity Bounds: false
      Autocompute Value Bounds:
        Max Value: 10
        Min Value: -10
        Value: true
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: Intensity
      Decay Time: 120
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 100
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: SLAM registered points
      Position Transformer: XYZ
      Queue Size: 1
      Selectable: true
      Size (Pixels): 2
      Size (m): 0.029999999329447746
      Style: Points
      Topic: /slam_registered_points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Angle Tolerance: 0.20000000298023224
      Class: rviz/Odometry
      Covariance:
        Orientation:
          Alpha: 0.4000000059604645
          Color: 255; 255; 127
          Color Style: Unique
          Frame: Local
          Offset: 1
          Scale: 1
          Value: false
        Position:
          Alpha: 0.5
          Color: 252; 233; 79
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 10000
      Name: SLAM odom
      Position Tolerance: 0.5
      Shape:
        Alpha: 1
        Axes Length: 0.30000001192092896
        Axes Radius: 0.05000000074505806
        Color: 255; 25; 0
        Head Length: 0.30000001192092896
        Head Radius: 0.10000000149011612
        Shaft Length: 1
        Shaft Radius: 0.05000000074505806
        Value: Axes
      Topic: /slam_odom
      Unreliable: false
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/PointCloud2
          Color: 252; 233; 79
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 255
          Min Color: 0; 0; 0
          Min Intensity: 1
          Name: Edges
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /maps/edges
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          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/PointCloud2
          Color: 0; 163; 255
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 255
          Min Color: 0; 0; 0
          Min Intensity: 1
          Name: Planars
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /maps/planes
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          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/PointCloud2
          Color: 78; 154; 6
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: -999999
          Min Color: 0; 0; 0
          Min Intensity: 999999
          Name: Blobs
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /maps/blobs
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: false
      Name: Keypoints maps
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/PointCloud2
          Color: 252; 233; 79
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 226
          Min Color: 0; 0; 0
          Min Intensity: 1
          Name: Edges
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /keypoints/edges
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          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/PointCloud2
          Color: 0; 163; 255
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 187
          Min Color: 0; 0; 0
          Min Intensity: 1
          Name: Planars
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /keypoints/planes
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          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/PointCloud2
          Color: 78; 154; 6
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: -999999
          Min Color: 0; 0; 0
          Min Intensity: 999999
          Name: Blobs
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /keypoints/blobs
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: false
      Name: Current keypoints
    - Class: rviz/Group
      Displays:
        - Angle Tolerance: 0.20000000298023224
          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: 0.5
              Color: 255; 85; 255
              Scale: 1
              Value: true
            Value: false
          Enabled: true
          Keep: 10000
          Name: GPS odom
          Position Tolerance: 0.5
          Shape:
            Alpha: 1
            Axes Length: 0.30000001192092896
            Axes Radius: 0.05000000074505806
            Color: 255; 25; 0
            Head Length: 0.30000001192092896
            Head Radius: 0.10000000149011612
            Shaft Length: 1
            Shaft Radius: 0.05000000074505806
            Value: Axes
          Topic: /gps_odom
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 25; 255; 0
          Enabled: true
          Head Diameter: 0.10000000149011612
          Head Length: 0.10000000149011612
          Length: 0.25
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: Calib ICP GPS
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 115; 210; 22
          Pose Style: Arrows
          Radius: 0.029999999329447746
          Shaft Diameter: 0
          Shaft Length: 0
          Topic: /icp_gps_path
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 239; 41; 41
          Enabled: true
          Head Diameter: 0.10000000149011612
          Head Length: 0.10000000149011612
          Length: 0.25
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: Calib ICP SLAM
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 204; 0; 0
          Pose Style: Arrows
          Radius: 0.029999999329447746
          Shaft Diameter: 0
          Shaft Length: 0
          Topic: /icp_slam_path
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 0; 157; 255
          Enabled: true
          Head Diameter: 0.05000000074505806
          Head Length: 0.029999999329447746
          Length: 0.20000000298023224
          Line Style: Lines
          Line Width: 0.10000000149011612
          Name: PGO SLAM path
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 0; 157; 255
          Pose Style: Axes
          Radius: 0.029999999329447746
          Shaft Diameter: 0.05000000074505806
          Shaft Length: 0
          Topic: /pgo_slam_path
          Unreliable: false
          Value: true
      Enabled: true
      Name: GPS use
  Enabled: true
  Global Options:
    Background Color: 0; 0; 0
    Default Light: true
    Fixed Frame: odom
    Frame Rate: 20
  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
      Theta std deviation: 0.2617993950843811
      Topic: /initialpose
      X std deviation: 0.5
      Y std deviation: 0.5
    - 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: 40
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.7853981852531433
      Target Frame: base_link
      Value: Orbit (rviz)
      Yaw: 0.7853981852531433
    Saved:
      - Class: rviz/Orbit
        Distance: 40
        Enable Stereo Rendering:
          Stereo Eye Separation: 0.05999999865889549
          Stereo Focal Distance: 1
          Swap Stereo Eyes: false
          Value: false
        Focal Point:
          X: 0
          Y: 0
          Z: 0
        Focal Shape Fixed Size: false
        Focal Shape Size: 0.05000000074505806
        Invert Z Axis: false
        Name: Base
        Near Clip Distance: 0.009999999776482582
        Pitch: 0.7853981852531433
        Target Frame: base_link
        Value: Orbit (rviz)
        Yaw: 0.7853981852531433
Window Geometry:
  Displays:
    collapsed: true
  Height: 1025
  Hide Left Dock: true
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd00000004000000000000015600000368fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d00000368000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000368fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000368000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000039fc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000073d0000036800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1853
  X: 67
  Y: 27
