msckf_vio
####查看topic列表：
wj@wj-Inspiron-5437:~$ rostopic list
/benchmark_publisher/path
/cam0/image_raw
/cam1/image_raw
/firefly_sbx/image_processor/debug_stereo_image
/firefly_sbx/image_processor/features
/firefly_sbx/image_processor/tracking_info
/firefly_sbx/vio/feature_point_cloud
/firefly_sbx/vio/gt_odom
/firefly_sbx/vio/mocap_odom
/firefly_sbx/vio/odom
/imu0
/rosout
/rosout_agg
/tf
####rviz_euroc_config.rviz
Panels: 面板:
- Class: rviz/Displays 显示
Help Height:
Name: Displays
Property Tree Widget:
Expanded:
- /TF1/Frames1
- /Ground Truth1
Splitter Ratio: 0.5
Tree Height:
- Class: rviz/Selection 选择
Name: Selection
- Class: rviz/Tool Properties 工具属性
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views 概观
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time 时间
Experimental: false
Name: Time
SyncMode:
SyncSource: VIO Points
Visualization Manager: 可视化管理：
Class: ""
Displays:
- Alpha: 0.1
Cell Size:
Class: rviz/Grid
Color: ; ;
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: 1m Grid 1m格网格，阿尔法0.1，一行（列）有20个单元
Normal Cell Count:
Offset:
X:
Y:
Z:
Plane: XY
Plane Cell Count:
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 0.7
Cell Size:
Class: rviz/Grid
Color: ; ;
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: 5m Grid 5m网格，阿尔法0.7，一行（列）有4个平面单元
Normal Cell Count:
Offset:
X:
Y:
Z:
Plane: XY
Plane Cell Count:
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout:
Frames:
All Enabled: false
odom: 观测帧
Value: true
world: 世界帧
Value: true
Marker Scale:
Name: TF 坐标系
Show Arrows: false 箭头
Show Axes: true 轴
Show Names: true
Tree:
world:
odom:
{}
Update Interval:
Value: true
- Angle Tolerance: 0 角度公差
Class: rviz/Odometry
Color: ; ;
Enabled: false
Keep:
Length:
Name: VIO 视觉惯导里程计
Position Tolerance:
Topic: /firefly_sbx/vio/odom
Value: false
- Angle Tolerance:
Class: rviz/Odometry
Color: ; ;
Enabled: true
Keep:
Length:
Name: Covariance 协方差
Position Tolerance:
Topic: /firefly_sbx/vio/odom
Value: true
- Alpha:
Autocompute Intensity Bounds: true 自动计算强度界限
Autocompute Value Bounds: 自动计算值界限
Max Value:
Min Value: -
Value: false
Axis: Z
Channel Name: z
Class: rviz/PointCloud2
Color: ; ;
Color Transformer: AxisColor
Decay Time: 30 衰减时间
Enabled: true
Invert Rainbow: false
Max Color: ; ;
Max Intensity: 26.7646
Min Color: ; ;
Min Intensity: -4.65563
Name: VIO Points 视觉惯导里程计特征点云
Position Transformer: XYZ
Queue Size:
Selectable: true
Size (Pixels):
Size (m):
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:
Median window:
Min Value:
Name: Stereo Features 立体图像中的特征
Normalize Range: true
Queue Size:
Transport Hint: raw
Unreliable: false
Value: true
- Angle Tolerance:
Class: rviz/Odometry
Color: ; ;
Enabled: true
Keep:
Length:
Name: Ground Truth 真实值
Position Tolerance:
Topic: /benchmark/odometry
Value: true
- Alpha:
Buffer Length:
Class: rviz/Path
Color: ; ;
Enabled: false
Head Diameter: 0.3
Head Length: 0.2
Length: 0.3
Line Style: Lines
Line Width: 0.03
Name: Ground Truth Path 真实路径
Offset:
X:
Y:
Z:
Pose Style: None
Radius: 0.03
Shaft Diameter: 0.1
Shaft Length: 0.1
Topic: /benchmark/path
Unreliable: false
Value: false
- Alpha:
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: ""
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval:
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: ; ;
Fixed Frame: world
Frame Rate:
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: 22.5584
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance:
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0.804641
Y: -1.53353
Z: 0.74186
Name: Current View
Near Clip Distance: 0.01
Pitch: 1.5598
Target Frame: odom
Value: Orbit (rviz)
Yaw: 6.278
Saved: ~
Window Geometry:
Displays:
collapsed: true
Height:
Hide Left Dock: true
Hide Right Dock: true
QMainWindow State: 000000ff00000000fd0000000400000000000001b300000286fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000286000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001a2000003dafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000003da000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000053d0000016dfc0100000004fb0000001e00530074006500720065006f00200046006500610074007500720065007303000001a1000001810000038a0000013cfb0000001e00530074006500720065006f0020004600650061007400750072006500730100000000000005510000000000000000fb0000000800540069006d0065000000000000000556000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005150000028600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Stereo Features:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width:
X:
Y: