GUI Description
The xVIO GUI window is divided between 2 windows:
The 3D view displays xVIO's current pose estimate for the IMU frame, along with the recent trajectory as a blue 3D line. It also displays an additional ground truth frame, if published on the /true_pose topic, as well as any additional transforms broadcasted in the tf tree. The SLAM features are shown in green, the inlier MSCKF features in yellow, and the outlier MSCKF features in black.
Note: Outlier SLAM features are not displayed in the current version.
The image view can display any image topic available on the network. By default, it will display the /x_vio/tracker topic, which shows the points tracked by the visual front end overlaid over the raw image. The other image output is published on /x_vio/track_manager. It shows the same image features, colorized based on their track category:
- SLAM tracks in green
- MSCKF tracks in yellow
- Potential tracks in blue
NOTE: Potential tracks are those which haven't surpassed the minimum track length, and this can't be used in the filter yet.
The input menu allows the user to (re-)initialize the filter with the state estimates provided in params.yaml, vie the INITIALIZE_FILTER button.