From d85a173d3931c6e01c23a2afb67bf0499e8b19b6 Mon Sep 17 00:00:00 2001
From: dvorak <yangzhenfei0@gmail.com>
Date: Tue, 31 Mar 2026 22:14:48 +0800
Subject: [PATCH] enable planning visualization by default

---
 docs/vis.rviz | 3379 +------------------------------------------------
 1 file changed, 54 insertions(+), 3325 deletions(-)

diff --git a/docs/vis.rviz b/docs/vis.rviz
index 4e162c5..69d264a 100644
--- a/docs/vis.rviz
+++ b/docs/vis.rviz
@@ -13,7 +13,7 @@ Panels:
         - /Planning1/TrajScores1
         - /Planning1/PointCloud21
       Splitter Ratio: 0.5
-    Tree Height: 1436
+    Tree Height: 612
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -60,3327 +60,55 @@ Visualization Manager:
         All Enabled: true
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           Value: true
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-          camera_1758097772283955322:
-            {}
-          camera_1758097772417381836:
-            {}
-          camera_1758097772550803711:
+        camera_accel_frame:
+          Value: true
+        camera_accel_optical_frame:
+          Value: true
+        camera_aligned_depth_to_infra1_frame:
+          Value: true
+        camera_color_frame:
+          Value: true
+        camera_color_optical_frame:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_gyro_frame:
+          Value: true
+        camera_gyro_optical_frame:
+          Value: true
+        camera_imu_frame:
+          Value: true
+        camera_imu_optical_frame:
+          Value: true
+        camera_infra1_frame:
+          Value: true
+        camera_infra1_optical_frame:
+          Value: true
+        camera_infra2_frame:
+          Value: true
+        camera_infra2_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        world:
+          camera:
             {}
       Update Interval: 0
       Value: true
     - Class: rviz_common/Group
       Displays:
         - Class: rviz_default_plugins/Image
-          Enabled: false
+          Enabled: true
           Max Value: 1
           Median window: 5
           Min Value: 0
@@ -3392,7 +120,7 @@ Visualization Manager:
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /slam/disparity_vis
-          Value: false
+          Value: true
         - Alpha: 1
           Auto Size:
             Auto Size Factor: 1
@@ -3403,6 +131,7 @@ Visualization Manager:
             Min Value: -3
             Value: false
           Axis: Z
+          CameraInfo Topic: /slam/camera_info
           Channel Name: intensity
           Class: rviz_default_plugins/DepthCloud
           Color: 255; 255; 255
@@ -3491,9 +220,9 @@ Visualization Manager:
           Enabled: true
           Invert Rainbow: false
           Max Color: 0; 255; 0
-          Max Intensity: -999999
+          Max Intensity: 0.30000001192092896
           Min Color: 116; 0; 0
-          Min Intensity: 999999
+          Min Intensity: -0.5
           Name: 3DGridMap
           Position Transformer: XYZ
           Selectable: true
@@ -3660,7 +389,7 @@ Visualization Manager:
           Use Fixed Frame: true
           Use rainbow: true
           Value: true
-      Enabled: false
+      Enabled: true
       Name: Planning
     - Class: rviz_common/Group
       Displays:
@@ -3668,7 +397,7 @@ Visualization Manager:
           Enabled: true
           Name: MarkerArray
           Namespaces:
-            pointcloud: true
+            {}
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -3869,14 +598,14 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 2400
+  Height: 1531
   HeightMap:
     collapsed: false
   Hide Left Dock: false
   Hide Right Dock: false
   Image:
     collapsed: false
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+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -3887,8 +616,8 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 3840
-  X: 0
+  Width: 845
+  X: 1707
   Y: 0
   color image:
     collapsed: false