diff --git a/rviz2/rq_config.rviz b/rviz2/rq_config.rviz
index 401b5c46898797896af39900b399dc3d25ea5122..d31b7a7b7363e6f1de50abdc893a1c7de2cb32aa 100644
--- a/rviz2/rq_config.rviz
+++ b/rviz2/rq_config.rviz
@@ -10,6 +10,9 @@ Panels:
         - /TF1/Tree1
         - /Image4
         - /Image5
+        - /MarkerArray1
+        - /MarkerArray1/Status1
+        - /MarkerArray1/Namespaces1
       Splitter Ratio: 0.5
     Tree Height: 814
   - Class: rviz_common/Selection
@@ -107,7 +110,7 @@ Visualization Manager:
         Value: /rq/current_volume_slice_x
       Value: true
     - Class: rviz_default_plugins/Image
-      Enabled: true
+      Enabled: false
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -119,7 +122,7 @@ Visualization Manager:
         History Policy: Keep Last
         Reliability Policy: Reliable
         Value: /rq/current_volume_slice_y
-      Value: true
+      Value: false
     - Class: rviz_default_plugins/Image
       Enabled: true
       Max Value: 1
@@ -148,6 +151,18 @@ Visualization Manager:
         Reliability Policy: Reliable
         Value: /rq/current_volume_slice_z
       Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: MarkerArray
+      Namespaces:
+        "": true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rq/reconstruction_roi
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -194,7 +209,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 6.921928882598877
+      Distance: 4.095207214355469
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -209,10 +224,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.8803983926773071
+      Pitch: 0.8697972893714905
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 4.335405349731445
+      Yaw: 1.1390427350997925
     Saved: ~
 Window Geometry:
   Displays:
@@ -222,7 +237,7 @@ Window Geometry:
   Hide Right Dock: false
   Image:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000018d00000543fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000042000003c8000000f100fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000040f000001760000002c00ffffff000000010000012900000543fc0200000008fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc00000042000001f3000000bd00fffffffa000000000100000002fb0000000a0056006900650077007301000008d7000001290000012900fffffffb0000000a0049006d0061006700650000000000ffffffff0000000000000000fb0000000a0049006d0061006700650000000284000001320000002c00fffffffb0000000a0049006d006100670065010000023a0000010d0000002c00fffffffb0000000a0049006d006100670065010000034c000001140000002c00fffffffb0000000a0049006d0061006700650100000465000001200000002c00fffffffb0000000a0049006d00610067006501000003b7000001450000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002dd00fffffffb0000000800540069006d00650100000000000004500000000000000000000007400000054300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000028800000543fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000042000003c8000000f100fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000040f000001760000002c00ffffff000000010000012900000543fc0200000008fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fc0000004200000318000000bd00fffffffa000000000100000002fb0000000a0056006900650077007301000008d7000001290000012900fffffffb0000000a0049006d0061006700650000000000ffffffff0000005900fffffffb0000000a0049006d0061006700650000000284000001320000002c00fffffffb0000000a0049006d006100670065010000035f0000010d0000002c00fffffffb0000000a0049006d0061006700650100000471000001140000002c00fffffffb0000000a0049006d0061006700650100000465000001200000000000000000fb0000000a0049006d00610067006501000003b7000001450000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a000000003efc0100000002fb0000000800540069006d0065010000000000000a00000002dd00fffffffb0000000800540069006d00650100000000000004500000000000000000000006450000054300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
diff --git a/src/rq_reconstruction b/src/rq_reconstruction
index 6a7866a4f98fa1ef7fe0a01b0f8e364293aa574e..75e6391ef1ae992f7198f00dff2bde5726923fcb 160000
--- a/src/rq_reconstruction
+++ b/src/rq_reconstruction
@@ -1 +1 @@
-Subproject commit 6a7866a4f98fa1ef7fe0a01b0f8e364293aa574e
+Subproject commit 75e6391ef1ae992f7198f00dff2bde5726923fcb