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Updated rgbdslam_datasets.launch

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matlabbe
2016-01-13 13:47:56 -05:00
parent 697b3bae7b
commit 2250eb1f01
1 changed files with 13 additions and 24 deletions
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launch/tests/rgbdslam_datasets.launch
+13 -24
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@@ -10,20 +10,7 @@
-->
<param name="use_sim_time" type="bool" value="True"/>
<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-Local map size: number of unique features to keep track
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="1000" />
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
@@ -40,13 +27,18 @@
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="odom" to="vis_odom"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Local Map, 1 = Frame-to-frame -->
<param name="Vis/CorType" type="string" value="0"/> <!-- 0=features matching 1=Optical Flow -->
<param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="Vis/UseDepthAsMask" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="4"/>
<param name="OdomF2F/KeyFrameThr" type="string" value="300"/>
<param name="odom_frame_id" type="string" value="vis_odom"/>
<param name="frame_id" type="string" value="kinect"/>
<param name="publish_tf" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
@@ -70,10 +62,7 @@
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="odom" to="odom"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.05"/>
<remap from="odom" to="vis_odom"/>
<param name="queue_size" type="int" value="30"/>
</node>
@@ -90,7 +79,7 @@
<remap from="rgb/image" to="/camera/rgb/image_color"/>
<remap from="depth/image" to="/camera/depth/image"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="odom" to="odom"/>
<remap from="odom" to="vis_odom"/>
</node>
</group>