Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
      Splitter Ratio: 0.5
    Tree Height: 1843
  - 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: PointCloud2
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.0299999993
        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
    - 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: RGB8
      Decay Time: 0
      Enabled: true
      Invert Rainbow: false
      Max Color: 255; 255; 255
      Max Intensity: 4096
      Min Color: 0; 0; 0
      Min Intensity: 0
      Name: PointCloud2
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 3
      Size (m): 0.00999999978
      Style: Points
      Topic: /kinect_head/depth_registered/points
      Unreliable: false
      Use Fixed Frame: true
      Use rainbow: true
      Value: true
    - Class: jsk_rviz_plugin/BoundingBoxArray
      Enabled: true
      Name: BoundingBoxArray
      Topic: /segmentation_decomposer/boxes
      Unreliable: false
      Value: true
      alpha: 0.800000012
      color: 25; 255; 0
      coloring: Auto
      line width: 0.00999999978
      only edge: true
      show coords: false
    - Alpha: 1
      Class: jsk_rviz_plugin/PolygonArray
      Color: 25; 255; 0
      Enabled: true
      Name: PolygonArray
      Topic: /multi_plane_estimate/output_refined_polygon
      Unreliable: false
      Value: true
      coloring: Auto
      enable lighting: true
      normal length: 0.100000001
      only border: true
      show normal: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /edgetpu_object_detector/output/image
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: SSD output
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /image_cpi_decomposer/output
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: CPI decomposer output
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
      Unreliable: false
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: base_link
    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: 1.55238807
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.0599999987
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
        X: 0.576182783
        Y: 0.275493324
        Z: 0.967731237
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.0500000007
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.00999999978
      Pitch: 0.495398104
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 2.86040568
    Saved: ~
Window Geometry:
  CPI decomposer output:
    collapsed: false
  Displays:
    collapsed: false
  Height: 2124
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a000007c2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000007c2000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000423000007c2fc0200000006fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb000000140053005300440020006f007500740070007500740100000028000003e20000001600fffffffb0000002a0043005000490020006400650063006f006d0070006f0073006500720020006f007500740070007500740100000410000003da0000001600fffffffb0000000a00560069006500770073000000039600000454000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000fb0000000a0049006d00610067006501000007d40000001600000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e9e0000003efc0100000002fb0000000800540069006d0065010000000000000e9e0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000905000007c200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  SSD output:
    collapsed: false
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 3742
  X: 98
  Y: 36
