mapping.rviz 22 KB
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Panels:
  - Class: rviz/Displays
    Help Height: 80
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Models1
        - /Sensors1/Sonar1
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        - /Odometry1
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        - /Odometry1/(green)OdomCombinedLocal1/Shape1
        - /Nav1
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      Splitter Ratio: 0.48148149251937866
    Tree Height: 794
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  - 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: FrontImage
Preferences:
  PromptSaveOnExit: true
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: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 200
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/Axes
      Enabled: true
      Length: 0.25
      Name: Axes
      Radius: 0.02500000037252903
      Reference Frame: <Fixed Frame>
      Value: true
    - Class: rviz/Group
      Displays:
        - Alpha: 1
          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: Links in Alphabetic Order
            base_footprint:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            base_link:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            body:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            front_camera_uvc_camera_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            front_camera_uvc_camera_optical:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            front_left_wheel:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            front_lidar_rplidar_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            front_lidar_rplidar_scan_frame:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            front_right_wheel:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            imu_mpu9250:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            imu_mpu9250_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_camera_uvc_camera_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_camera_uvc_camera_optical:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_center_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_center_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_left_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_left_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_left_wheel:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_right_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            rear_right_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            rear_right_wheel:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            side_left_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            side_left_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            side_right_base:
              Alpha: 1
              Show Axes: false
              Show Trail: false
              Value: true
            side_right_ranger1d:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            steer_left:
              Alpha: 1
              Show Axes: false
              Show Trail: false
            steer_right:
              Alpha: 1
              Show Axes: false
              Show Trail: false
          Name: RobotModel
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          Robot Description: adc_car/robot_description
          TF Prefix: adc_car
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          Update Interval: 0
          Value: true
          Visual Enabled: true
        - Class: rviz/TF
          Enabled: false
          Frame Timeout: 15
          Frames:
            All Enabled: true
          Marker Scale: 0.25
          Name: TF
          Show Arrows: false
          Show Axes: true
          Show Names: true
          Tree:
            {}
          Update Interval: 0
          Value: false
      Enabled: true
      Name: Models
    - Class: rviz/Group
      Displays:
        - Class: rviz/Group
          Displays:
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: RearCenterRange
              Queue Size: 100
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              Topic: /adc_car/sensors/range/rear_center_sonar
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              Unreliable: false
              Value: true
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: RearLeftRange
              Queue Size: 100
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              Topic: /adc_car/sensors/range/rear_left_sonar
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              Unreliable: false
              Value: true
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: RearRightRange
              Queue Size: 100
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              Topic: /adc_car/sensors/range/rear_right_sonar
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              Unreliable: false
              Value: true
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: SideLeftRange
              Queue Size: 100
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              Topic: /adc_car/sensors/range/side_left_sonar
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              Unreliable: false
              Value: true
            - Alpha: 0.5
              Buffer Length: 1
              Class: rviz/Range
              Color: 255; 255; 255
              Enabled: true
              Name: SideRightRange
              Queue Size: 100
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              Topic: /adc_car/sensors/range/side_right_sonar
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              Unreliable: false
              Value: true
          Enabled: false
          Name: Sonar
        - Alpha: 1
          Autocompute Intensity Bounds: true
          Autocompute Value Bounds:
            Max Value: 10
            Min Value: -10
            Value: true
          Axis: Z
          Channel Name: intensity
          Class: rviz/LaserScan
          Color: 255; 255; 255
          Color Transformer: Intensity
          Decay Time: 0
          Enabled: true
          Invert Rainbow: false
          Max Color: 255; 255; 255
          Max Intensity: 0
          Min Color: 0; 0; 0
          Min Intensity: 0
          Name: LaserScan
          Position Transformer: XYZ
          Queue Size: 10
          Selectable: true
          Size (Pixels): 3
          Size (m): 0.009999999776482582
          Style: Points
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          Topic: /adc_car/sensors/scan
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          Unreliable: false
          Use Fixed Frame: true
          Use rainbow: true
          Value: true
        - Alpha: 0.25
          Class: rviz_plugin_tutorials/Imu
          Color: 204; 51; 204
          Enabled: false
          History Length: 2
          Name: Imu
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          Topic: /adc_car/sensors/imu_data
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          Unreliable: false
          Value: false
        - Class: rviz/Image
          Enabled: true
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          Image Topic: /adc_car/sensors/basler_camera/image_raw
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          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: FrontImage
          Normalize Range: true
          Queue Size: 2
          Transport Hint: compressed
          Unreliable: false
          Value: true
        - Class: rviz/Image
          Enabled: true
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          Image Topic: /adc_car/sensors/delock_camera/image_raw
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          Max Value: 1
          Median window: 5
          Min Value: 0
          Name: RearImage
          Normalize Range: true
          Queue Size: 2
          Transport Hint: compressed
          Unreliable: false
          Value: true
      Enabled: true
      Name: Sensors
    - Class: rviz/Group
      Displays:
        - Angle Tolerance: 0.25
          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: false
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          Enabled: true
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          Keep: 500
          Name: (blue)OdomGroundTruth
          Position Tolerance: 0.25
          Shape:
            Alpha: 1
            Axes Length: 1
            Axes Radius: 0.10000000149011612
            Color: 32; 74; 135
            Head Length: 0.07000000029802322
            Head Radius: 0.02500000037252903
            Shaft Length: 0.25
            Shaft Radius: 0.009999999776482582
            Value: Arrow
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          Topic: /adc_car/odom_ground_truth
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          Unreliable: false
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          Value: true
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        - Angle Tolerance: 0.25
          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: false
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          Enabled: true
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          Keep: 500
          Name: (red)OdomEncoders
          Position Tolerance: 0.25
          Shape:
            Alpha: 1
            Axes Length: 1
            Axes Radius: 0.10000000149011612
            Color: 255; 25; 0
            Head Length: 0.07000000029802322
            Head Radius: 0.02500000037252903
            Shaft Length: 0.25
            Shaft Radius: 0.009999999776482582
            Value: Arrow
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          Topic: /adc_car/odom
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          Unreliable: false
          Value: true
        - Angle Tolerance: 0.25
          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: false
          Enabled: true
          Keep: 500
          Name: (green)OdomCombinedLocal
          Position Tolerance: 0.25
          Shape:
            Alpha: 1
            Axes Length: 1
            Axes Radius: 0.10000000149011612
            Color: 0; 255; 0
            Head Length: 0.07000000029802322
            Head Radius: 0.02500000037252903
            Shaft Length: 0.25
            Shaft Radius: 0.009999999776482582
            Value: Arrow
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          Topic: /adc_car/local_odom_combined
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          Unreliable: false
          Value: true
        - Angle Tolerance: 0.25
          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: false
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          Enabled: false
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          Keep: 500
          Name: (yellow)OdomCombinedGlobal
          Position Tolerance: 0.25
          Shape:
            Alpha: 1
            Axes Length: 1
            Axes Radius: 0.10000000149011612
            Color: 255; 255; 0
            Head Length: 0.07000000029802322
            Head Radius: 0.02500000037252903
            Shaft Length: 0.25
            Shaft Radius: 0.009999999776482582
            Value: Arrow
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          Topic: /adc_car/global_odom_combined
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          Unreliable: false
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          Value: false
      Enabled: true
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      Name: Odometry
    - Class: rviz/Group
      Displays:
        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: map
          Draw Behind: false
          Enabled: true
          Name: Map
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          Topic: /adc_car/map
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          Unreliable: false
          Use Timestamp: false
          Value: true
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        - Alpha: 0.699999988079071
          Class: rviz/Map
          Color Scheme: map
          Draw Behind: false
          Enabled: false
          Name: OpendriveMap
          Topic: /adc_car/move_base/OpendriveGlobalPlanner/opendrive_map
          Unreliable: false
          Use Timestamp: false
          Value: false
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        - Alpha: 1
          Axes Length: 1
          Axes Radius: 0.10000000149011612
          Class: rviz/Pose
          Color: 255; 165; 5
          Enabled: true
          Head Length: 0.30000001192092896
          Head Radius: 0.10000000149011612
          Name: GoalPose
          Shaft Length: 1
          Shaft Radius: 0.05000000074505806
          Shape: Arrow
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          Topic: /adc_car/move_base_simple/goal
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          Unreliable: false
          Value: true
        - Alpha: 0.30000001192092896
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: false
          Name: LocalCostMap
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          Topic: /adc_car/move_base/local_costmap/costmap
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          Unreliable: false
          Use Timestamp: false
          Value: false
        - Alpha: 0.20000000298023224
          Class: rviz/Map
          Color Scheme: costmap
          Draw Behind: false
          Enabled: false
          Name: GlobalCostMap
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          Topic: /adc_car/move_base/global_costmap/costmap
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          Unreliable: false
          Use Timestamp: false
          Value: false
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 25; 0; 255
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: GlobalPath
          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
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          Topic: /adc_car/move_base/GlobalPlanner/plan
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 25; 0; 255
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: GlobalPath
          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: /adc_car/move_base/SBPLLatticePlanner/plan
          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 25; 0; 255
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: GlobalPath
          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: /adc_car/move_base/OpendriveGlobalPlanner/plan
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          Unreliable: false
          Value: true
        - Alpha: 1
          Buffer Length: 1
          Class: rviz/Path
          Color: 255; 0; 0
          Enabled: true
          Head Diameter: 0.30000001192092896
          Head Length: 0.20000000298023224
          Length: 0.30000001192092896
          Line Style: Lines
          Line Width: 0.029999999329447746
          Name: LocalPath
          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
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          Topic: /adc_car/move_base/AckermannPlannerROS/local_plan
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          Unreliable: false
          Value: true
      Enabled: true
      Name: Nav
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: map
    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
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      Topic: /adc_car/initialpose
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      X std deviation: 0.5
      Y std deviation: 0.5
    - Class: rviz/SetGoal
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      Topic: /adc_car/move_base_simple/goal
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    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
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      Distance: 19.4012393951416
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      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Focal Point:
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        X: 0.6564117670059204
        Y: 1.452591896057129
        Z: -1.8708149194717407
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      Focal Shape Fixed Size: false
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
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      Pitch: 1.4953978061676025
      Target Frame: adc_car/base_footprint
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      Value: Orbit (rviz)
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      Yaw: 3.115399122238159
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    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  FrontImage:
    collapsed: false
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  Height: 1025
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  Hide Left Dock: false
  Hide Right Dock: false
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  QMainWindow State: 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  RearImage:
    collapsed: false
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
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  Width: 1853
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  X: 67
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  Y: 27