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ros-pkg: updated az3 stereo launch file with optimization

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1856 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-14 21:53:46 +00:00
parent 0469106792
commit 2599e3ecfb
4 changed files with 35 additions and 14 deletions
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launch/azimut3/az3_mapping_robot_stereo.launch
+7 -9
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@@ -67,17 +67,15 @@
<!-- RTAB-Map's parameters --> <!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <param name="Rtabmap/DetectionRate" type="string" value="0.5"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/> <param name="Kp/TfIdfLikelihoodUsed" type="string" value="true"/>
<param name="NN/NNStrategy" type="string" value="3"/> <param name="Kp/WordsPerImage" type="string" value="100"/>
<param name="GFTT/MaxCorners" type="string" value="200"/> <param name="Bayes/FullPredictionUpdate" type="string" value="false"/>
<param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="10"/> <param name="LccBow/MaxDepth" type="string" value="10"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/FeatureType" type="string" value="4"/> <param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/> <param name="LccReextract/MaxWords" type="string" value="400"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/> <param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/> <param name="LccReextract/NNType" type="string" value="3"/>
</node> </node>
launch/tests/test_stereo_mapping.launch
+2 -2
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@@ -93,7 +93,7 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/> <param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/> <param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/> <param name="GFTT/MaxCorners" type="string" value="200"/>
@@ -102,7 +102,7 @@
<param name="LccBow/MaxDepth" type="string" value="3"/> <param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/> <param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/> <param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/> <param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/> <param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/> <param name="LccReextract/NNType" type="string" value="3"/>
launch/tests/test_stereo_mapping_bag.launch
+2 -3
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@@ -48,7 +48,6 @@
<param name="Odom/MaxDepth" type="string" value="10"/> <param name="Odom/MaxDepth" type="string" value="10"/>
<param name="generate_depth" type="bool" value="false"/> <param name="generate_depth" type="bool" value="false"/>
<!-- Parameters below only used when "generate_depth"=true -->
<param name="depth_patch_size" type="int" value="1"/> <param name="depth_patch_size" type="int" value="1"/>
<param name="subpix_win_size" type="int" value="3"/> <param name="subpix_win_size" type="int" value="3"/>
<param name="subpix_iterations" type="int" value="20"/> <param name="subpix_iterations" type="int" value="20"/>
@@ -80,7 +79,7 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/> <param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/> <param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/> <param name="GFTT/MaxCorners" type="string" value="200"/>
@@ -89,7 +88,7 @@
<param name="LccBow/MaxDepth" type="string" value="3"/> <param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/> <param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/> <param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/> <param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/> <param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/> <param name="LccReextract/NNType" type="string" value="3"/>
src/CoreWrapper.cpp
+24
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@@ -148,6 +148,30 @@ CoreWrapper::CoreWrapper(bool deleteDbOnStart) :
} }
} }
// Backward compatibility
std::list<std::string> oldParameterNames;
oldParameterNames.push_back("LccReextract/LoopClosureFeatures");
oldParameterNames.push_back("Rtabmap/DetectorStrategy");
for(std::list<std::string>::iterator iter=oldParameterNames.begin(); iter!=oldParameterNames.end(); ++iter)
{
std::string vStr;
if(pnh.getParam(*iter, vStr))
{
if(iter->compare("LccReextract/LoopClosureFeatures") == 0)
{
ROS_WARN("Parameter name changed: LccReextract/LoopClosureFeatures -> %s. Please update your launch file accordingly.",
Parameters::kLccReextractActivated().c_str());
parameters.at(Parameters::kLccReextractActivated())= vStr;
}
else if(iter->compare("Rtabmap/DetectorStrategy") == 0)
{
ROS_WARN("Parameter name changed: Rtabmap/DetectorStrategy -> %s. Please update your launch file accordingly.",
Parameters::kKpDetectorStrategy().c_str());
parameters.at(Parameters::kKpDetectorStrategy())= vStr;
}
}
}
// set public parameters // set public parameters
nh.setParam("is_rtabmap_paused", paused_); nh.setParam("is_rtabmap_paused", paused_);
for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter) for(ParametersMap::iterator iter=parameters.begin(); iter!=parameters.end(); ++iter)