i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-04 00:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros-pkg: added map_optimizer node

Browse Source 
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1897 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-18 00:00:42 +00:00
parent ae38cd2a54
commit 2d6c8faaa5
4 changed files with 268 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
launch/tests/test_stereo_mapping_bag.launch
+13 -6
View File
@@ -67,11 +67,13 @@
<param name="frame_id" type="string" value="base_link"/>
<param name="queue_size" type="int" value="30"/>
<param name="RGBD/ToroIterations" type="string" value="0"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="NN/NNStrategy" type="string" value="1"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
@@ -79,9 +81,9 @@
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/MaxDepth" type="string" value="10"/>
<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>
<!-- Visualisation (client side) -->
@@ -103,10 +105,15 @@
</node>
-->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
<remap from="mapData" to="mapData_optimized"/>
</node>
</group>
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">