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Updated rgbd_mapping_kinect2.launch. Added example of Kinect2 calibration files (my Kinect2). Added the launch file to be installed.

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matlabbe
2015-03-31 18:59:56 -04:00
parent 8522391bb6
commit 06015def54
6 changed files with 103 additions and 6 deletions
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launch/rgbd_mapping_kinect2.launch
+10 -6
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@@ -39,6 +39,8 @@
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="gftt_max_corners" default="500" />
<arg name="gftt_min_distance" default="7" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
@@ -52,7 +54,7 @@
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
@@ -60,8 +62,10 @@
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="GFTT/MaxCorners" type="string" value="$(arg gftt_max_corners)"/>
<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
</node>
<!-- Visual SLAM (robot side) -->
@@ -73,7 +77,7 @@
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg rgb_prefix)/camera_info"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
@@ -83,7 +87,7 @@
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="approx_sync" type="bool" value="true"/>
<remap from="rgb/image" to="/kinect2/$(arg rgb_prefix)/image"/>
<remap from="depth/image" to="/kinect2/$(arg depth_prefix)/image"/>
@@ -103,7 +107,7 @@
<remap from="odom_in" to="rtabmap/odom"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="approx_sync" type="bool" value="true"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>