diff --git a/rviz/online.rviz b/rviz/online.rviz
index 9f3701e62c4a754fcd2ead734580b9c841c4280c..efd0bca9366bb3ffdb7c31776086fbd225aad5ed 100644
--- a/rviz/online.rviz
+++ b/rviz/online.rviz
@@ -5,12 +5,10 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /TF1/Frames1
-        - /Factors1/Namespaces1
         - /Landmarks1/Namespaces1
         - /Trajectory1/Namespaces1
-        - /image_raw1
       Splitter Ratio: 0.5
-    Tree Height: 140
+    Tree Height: 163
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -69,6 +67,12 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: false
+        base_footprint:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
       Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
@@ -76,7 +80,10 @@ Visualization Manager:
       Show Axes: true
       Show Names: false
       Tree:
-        {}
+        map:
+          odom:
+            base_footprint:
+              {}
       Update Interval: 0
       Value: true
     - Class: rviz/MarkerArray
@@ -93,9 +100,9 @@ Visualization Manager:
       Name: Factors
       Namespaces:
         factors_VISUALODOMETRY PROC: true
-        factors_text_VISUALODOMETRY PROC: true
-        factors_text_unnamed_processor: true
-        factors_unnamed_processor: true
+        factors_text_VISUALODOMETRY PROC: false
+        factors_text_unnamed_processor: false
+        factors_unnamed_processor: false
       Queue Size: 1
       Value: true
     - Class: rviz/MarkerArray
@@ -188,7 +195,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 3.135493278503418
+      Distance: 5.2895660400390625
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -196,9 +203,9 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.06866473704576492
-        Y: 0.5332714319229126
-        Z: 0.13671444356441498
+        X: -0.3021344244480133
+        Y: 0.7495512366294861
+        Z: 0.46015024185180664
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
@@ -216,7 +223,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 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
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time: