Panels:
  - Class: rviz/Displays
    Name: Displays
  - Class: rviz/Views
    Name: Views
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 1
      Class: rviz/Grid
      Enabled: true
      Name: Grid
      Reference Frame: map
    - Alpha: 1
      Autocompute Intensity Bounds: true
      Autocompute Value Bounds:
        Max Value: 2.5
        Min Value: 0.5
      Axis: Z
      Channel Name: intensity
      Class: rviz/PointCloud2
      Color: 255; 255; 255
      Color Transformer: AxisColor
      Decay Time: 0
      Enabled: true
      Name: Depth PointCloud
      Position Transformer: XYZ
      Queue Size: 10
      Selectable: true
      Size (Pixels): 2
      Style: Points
      Topic: /depth/points
      Use Fixed Frame: true
    - Class: rviz/Image
      Enabled: true
      Image Topic: /depth/image
      Max Value: 1
      Median window: 5
      Min Value: 0
      Name: Depth Image
      Normalize Range: true
      Queue Size: 2
      Transport Hint: raw
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: map
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
    - Class: rviz/MoveCamera
    - Class: rviz/FocusCamera
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 4
      Focal Point:
        X: 0
        Y: 0
        Z: 1
      Name: Current View
      Pitch: 0.5
      Yaw: 0.8
Window Geometry:
  Height: 800
  Width: 1200