Updated with rtabmap-0.19.5, added tange_min and range_max parameters to point_cloud_assembler nodelet

launch/config/find_object.ini

@@ -1,6 +1,6 @@
 [General]
-windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\x2\0\0\x2\xeb\0\0\x2\x9f\0\0\x4\x32\0\0\x1\n\0\0\x3\a\0\0\x2\x97\0\0\x4*\0\0\0\0\0\0)
-windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x8a\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x9c\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\b\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x8e\0\0\x1\xe\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)
+windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\x1\x2\0\0\x2\xeb\0\0\x2\x96\0\0\x4*\0\0\x1\x2\0\0\x3\a\0\0\x2\x96\0\0\x4*\0\0\0\0\0\0\0\0\a\x80)
+windowState="@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xc4\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\xa8\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1;\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x95\0\0\x1\xe\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)"
 
 [Camera]
 1deviceId=0
@@ -14,13 +14,32 @@ windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\
 9queueSize=1
 
 [Feature2D]
-1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK"
-2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK"
+1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE"
+2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY"
 3MaxFeatures=0
+4Affine=false
+5AffineCount=6
+6SubPix=false
+7SubPixWinSize=3
+8SubPixIterations=30
+9SubPixEps=0.02
+AGAST_nonmaxSuppression=true
+AGAST_threshold=10
+AKAZE_descriptorChannels=3
+AKAZE_descriptorSize=0
+AKAZE_nOctaveLayers=4
+AKAZE_nOctaves=4
+AKAZE_threshold=0.001
 BRISK_octaves=3
 BRISK_patternScale=1
 BRISK_thresh=30
 Brief_bytes=32
+DAISY_interpolation=true
+DAISY_q_hist=8
+DAISY_q_radius=3
+DAISY_q_theta=8
+DAISY_radius=15
+DAISY_use_orientation=false
 Dense_featureScaleLevels=1
 Dense_featureScaleMul=0.1
 Dense_initFeatureScale=1
@@ -34,6 +53,7 @@ FREAK_patternScale=22
 FREAK_scaleNormalized=true
 Fast_gpu=false
 Fast_keypointsRatio=0.05
+Fast_maxNpoints=5000
 Fast_nonmaxSuppression=true
 Fast_threshold=10
 GFTT_blockSize=3
@@ -42,6 +62,16 @@ GFTT_maxCorners=1000
 GFTT_minDistance=1
 GFTT_qualityLevel=0.01
 GFTT_useHarrisDetector=false
+KAZE_extended=false
+KAZE_nOctaveLayers=4
+KAZE_nOctaves=4
+KAZE_threshold=0.001
+KAZE_upright=false
+LATCH_bytes=32
+LATCH_half_ssd_size=3
+LATCH_rotationInvariance=true
+LUCID_blur_kernel=2
+LUCID_kernel=1
 MSER_areaThreshold=1.01
 MSER_delta=5
 MSER_edgeBlurSize=5
@@ -52,6 +82,7 @@ MSER_minArea=60
 MSER_minDiversity=0.2
 MSER_minMargin=0.003
 ORB_WTA_K=2
+ORB_blurForDescriptor=false
 ORB_edgeThreshold=31
 ORB_firstLevel=0
 ORB_gpu=false
@@ -64,6 +95,7 @@ SIFT_contrastThreshold=0.04
 SIFT_edgeThreshold=10
 SIFT_nOctaveLayers=3
 SIFT_nfeatures=0
+SIFT_rootSIFT=false
 SIFT_sigma=1.6
 SURF_extended=true
 SURF_gpu=false
@@ -79,10 +111,13 @@ Star_responseThreshold=30
 Star_suppressNonmaxSize=5
 
 [%General]
+autoPauseOnDetection=false
+autoScreenshotPath=
 autoScroll=true
 autoStartCamera=false
 autoUpdateObjects=true
 controlsShown=false
+debug=false
 imageFormats=*.png *.jpg *.bmp *.tiff *.ppm
 invertedSearch=true
 mirrorView=false
@@ -93,27 +128,35 @@ port=0
 sendNoObjDetectedEvents=false
 threads=1
 videoFormats=*.avi *.m4v *.mp4
+vocabularyFixed=false
 vocabularyIncremental=false
 vocabularyUpdateMinWords=2000
-autoPauseOnDetection=false
 
 [Homography]
+allCornersVisible=false
+confidence=0.995
 homographyComputed=true
 ignoreWhenAllInliers=false
-method="1:LMEDS;RANSAC"
+maxIterations=2000
+method="1:LMEDS;RANSAC;RHO"
+minAngle=50
 minimumInliers=10
+opticalFlow=false
+opticalFlowEps=0.01
+opticalFlowIterations=30
+opticalFlowMaxLevel=3
+opticalFlowWinSize=16
 ransacReprojThr=5
 rectBorderWidth=4
-allCornersVisible=false
-minAngle=50
 
 [NearestNeighbor]
-1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh"
+1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce"
 2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING"
 3nndrRatioUsed=true
 4nndrRatio=0.8
 5minDistanceUsed=false
 6minDistance=1.6
+7ConvertBinToFloat=false
 7search_checks=32
 8search_eps=0
 9search_sorted=true
@@ -121,6 +164,7 @@ Autotuned_build_weight=0.01
 Autotuned_memory_weight=0
 Autotuned_sample_fraction=0.1
 Autotuned_target_precision=0.8
+BruteForce_gpu=false
 Composite_branching=32
 Composite_cb_index=0.2
 Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP"
@@ -134,3 +178,6 @@ KMeans_iterations=11
 Lsh_key_size=20
 Lsh_multi_probe_level=2
 Lsh_table_number=12
+search_checks=32
+search_eps=0
+search_sorted=true