Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Axes1
        - /odometry1/odomPath1
        - /mapping1
        - /mapping1/surround1
        - /mapping1/currPoints1
        - /mapping1/PointCloud21
        - /Debug1/PointCloud21
        - /Debug1/PointCloud22
        - /Debug1/PointCloud23
        - /Odometry1/Odometry1
        - /Odometry1/Odometry1/Shape1
        - /Odometry1/Odometry2
        - /Odometry1/Odometry2/Shape1
        - /Odometry1/Odometry3
        - /Odometry1/Odometry3/Shape1
        - /Features1
        - /Features1/PointCloud21
        - /Features1/PointCloud22
        - /Features1/PointCloud23
        - /Axes2
        - /Odometry2
        - /Odometry2/Shape1
        - /Marker1
        - /PointStamped1
      Splitter Ratio: 0.5
    Tree Height: 1066
  - 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: currPoints
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: false
      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: 160
      Reference Frame: <Fixed Frame>
      Value: false
    - Class: rviz/Axes
      Enabled: true
      Length: 0.5
      Name: Axes
      Radius: 0.10000000149011612
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 170; 0
          Enabled: false
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: gtPathlc
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /path_gt
          Unreliable: false
          Value: false
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 170; 0
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: gtPathLidar
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /path_gt_lidar
          Unreliable: false
          Value: true
      Enabled: false
      Name: GT
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 85; 0
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.10000000149011612
          Name: odomPath
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /laser_odom_path
          Unreliable: false
          Value: true
      Enabled: false
      Name: odometry
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          Buffer Length: 10000
          Class: rviz/Path
          Color: 255; 85; 0
          Enabled: false
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: mappingPath
          Offset:
            X: 0
            Y: 0
            Z: 0
          Pose Color: 255; 85; 255
          Pose Style: None
          Radius: 0.029999999329447746
          Shaft Diameter: 0.10000000149011612
          Shaft Length: 0.10000000149011612
          Topic: /laser_odom_path
          Unreliable: false
          Value: false
        - 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: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 15
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: surround
          Position Transformer: XYZ
          Queue Size: 1
          Selectable: false
          Size (Pixels): 4
          Size (m): 0.05000000074505806
          Style: Points
          Topic: /cloud_registered
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 0.20000000298023224
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 0.32742905616760254
            Min Value: -2.179872751235962
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/PointCloud2
          Color: 255; 255; 255
          Color Transformer: AxisColor
          Decay Time: 1e+9
          Enabled: true
          Invert Rainbow: true
          Max Color: 255; 255; 255
          Max Intensity: 90.00662994384766
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: currPoints
          Position Transformer: XYZ
          Queue Size: 100000
          Selectable: true
          Size (Pixels): 1
          Size (m): 0.009999999776482582
          Style: Points
          Topic: /cloud_registered
          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: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: false
          Invert Rainbow: false
          Max Color: 255; 0; 0
          Max Intensity: 152
          Min Color: 255; 0; 0
          Min Intensity: 0
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.05000000074505806
          Style: Flat Squares
          Topic: /Laser_map
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: false
          Value: false
      Enabled: true
      Name: mapping
    - 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: 255; 255; 255
          Color Transformer: FlatColor
          Decay Time: 100000
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 15.00274658203125
          Min Color: 0; 0; 0
          Min Intensity: -0.0028979615308344364
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.05000000074505806
          Style: Spheres
          Topic: /laser_cloud_sharp
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 2.305999994277954
            Min Value: -0.6200000047683716
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/PointCloud2
          Color: 98; 255; 245
          Color Transformer: FlatColor
          Decay Time: 1e+6
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 353
          Min Color: 0; 0; 0
          Min Intensity: 2
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Flat Squares
          Topic: /laser_cloud_flat
          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: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 100000
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 324
          Min Color: 0; 0; 0
          Min Intensity: 91
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Flat Squares
          Topic: /laser_cloud_less_sharp
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
      Enabled: false
      Name: Debug
    - Class: rviz/Group
      Displays:
        - Angle Tolerance: 0.009999999776482582
          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: 0.30000001192092896
              Color: 204; 51; 204
              Scale: 1
              Value: true
            Value: true
          Enabled: true
          Keep: 1000
          Name: Odometry
          Position Tolerance: 0.009999999776482582
          Shape:
            Alpha: 1
            Axes Length: 0.5
            Axes Radius: 0.009999999776482582
            Color: 0; 255; 0
            Head Length: 0
            Head Radius: 0
            Shaft Length: 0.05000000074505806
            Shaft Radius: 0.05000000074505806
            Value: Arrow
          Topic: /re_local_pose
          Unreliable: false
          Value: true
        - Angle Tolerance: 0.009999999776482582
          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: 0.30000001192092896
              Color: 204; 51; 204
              Scale: 1
              Value: true
            Value: true
          Enabled: true
          Keep: 10000
          Name: Odometry
          Position Tolerance: 0.0010000000474974513
          Shape:
            Alpha: 1
            Axes Length: 0.20000000298023224
            Axes Radius: 0.05000000074505806
            Color: 255; 85; 0
            Head Length: 0
            Head Radius: 0
            Shaft Length: 0.05000000074505806
            Shaft Radius: 0.05000000074505806
            Value: Axes
          Topic: /aft_mapped_to_init
          Unreliable: false
          Value: true
        - Angle Tolerance: 0.10000000149011612
          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: 0.30000001192092896
              Color: 204; 51; 204
              Scale: 1
              Value: true
            Value: true
          Enabled: true
          Keep: 1
          Name: Odometry
          Position Tolerance: 0.0010000000474974513
          Shape:
            Alpha: 1
            Axes Length: 0.20000000298023224
            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: /re_local_pose
          Unreliable: false
          Value: true
      Enabled: false
      Name: Odometry
    - 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: 255; 0; 0
          Color Transformer: FlatColor
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 38.0005989074707
          Min Color: 0; 0; 0
          Min Intensity: 1.000100016593933
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 1
          Selectable: true
          Size (Pixels): 5
          Size (m): 0.20000000298023224
          Style: Points
          Topic: /laser_cloud_flat
          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: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 78; 154; 6
          Max Intensity: 155
          Min Color: 78; 154; 6
          Min Intensity: 0
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.05999999865889549
          Style: Flat Squares
          Topic: /livox_undistort
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: false
          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: 160
          Min Color: 255; 255; 255
          Min Intensity: 0
          Name: PointCloud2
          Position Transformer: XYZ
          Queue Size: 1
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.019999999552965164
          Style: Flat Squares
          Topic: /livox_cloud
          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: false
          Value: false
      Enabled: true
      Name: Features
    - Class: rviz/Axes
      Enabled: true
      Length: 1
      Name: Axes
      Radius: 0.10000000149011612
      Reference Frame: aft_mapped
      Value: true
    - Angle Tolerance: 0.10000000149011612
      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: 0.30000001192092896
          Color: 204; 51; 204
          Scale: 1
          Value: true
        Value: true
      Enabled: true
      Keep: 10000
      Name: Odometry
      Position Tolerance: 0.10000000149011612
      Shape:
        Alpha: 1
        Axes Length: 0.20000000298023224
        Axes Radius: 0.05000000074505806
        Color: 25; 255; 255
        Head Length: 0
        Head Radius: 0
        Shaft Length: 0.10000000149011612
        Shaft Radius: 0.10000000149011612
        Value: Arrow
      Topic: /aft_mapped_to_init
      Unreliable: false
      Value: true
    - Class: rviz/Marker
      Enabled: false
      Marker Topic: visualization_marker
      Name: Marker
      Namespaces:
        {}
      Queue Size: 100
      Value: false
    - Alpha: 1
      Class: rviz/PointStamped
      Color: 204; 41; 204
      Enabled: true
      History Length: 1
      Name: PointStamped
      Radius: 0.20000000298023224
      Topic: /clicked_point
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 0; 0; 0
    Default Light: true
    Fixed Frame: camera_init
    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
      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: 34.710601806640625
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 6.49392557144165
        Y: -0.4694555699825287
        Z: -1.3836920261383057
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.3497962951660156
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 5.425689220428467
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1383
  Hide Left Dock: false
  Hide Right Dock: true
  QMainWindow State: 000000ff00000000fd000000040000000000000156000004b5fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000004b5000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650000000618000001a800000000000000000000000100000152000004b5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000004b5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004df00000052fc0100000002fb0000000800540069006d00650100000000000004df000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000383000004b500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
  Width: 1247
  X: 67
  Y: 27
