MULLS Visualization Parameter List

Parameters	Description	Default value
real_time_viewer_on	launch real time viewer GUI or not	true
screen_width	horizontal screen resolution of your monitor (pixel)	1920
screen_height	vertical screen resolution of your monitor (pixel)	1080
vis_intensity_scale	max intensity (reflectivity) value for the point cloud of your dataset	256.0
vis_map_history_down_rate	downsampling rate of the map point cloud kept in the memory for visualization	300
vis_initial_color_type	map visualizaer's rendering color map: (0: single color & semantic mask, 1: frame-wise, 2: height, 3: intensity gray, 4: intensity jet)")	0
laser_vis_size	size (unit: m) of the laser scanner (vehicle) on the map viewer	0.5
vis_pause_at_loop_closure	let the visualizer pause when a new loop closure is cosntructed	false
show_range_image	display the range image or not in realtime (only available when the scanline specification is known)	false
show_bev_image	display the BEV image or not in realtime	false
write_out_map_on	output map point clouds or not	false
write_out_gt_map_on	output map point clouds generated from the GNSSINS pose or not (only available when GNSSINS pose is provided)	false
write_map_each_frame	output each frame's point cloud in map coordinate system or not	false
map_downrate_output	downsampling rate for output map point cloud	5