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Leaving the depth format check to rtabmap library. Added warning on large baseline detected. Added "convert_depth_to_mm"=true argument to rgbd_mapping.launch

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matlabbe
2015-10-09 12:28:20 -04:00
parent 96fc6c81d6
commit 3269ccd196
7 changed files with 44 additions and 44 deletions
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launch/rgbd_mapping.launch
+2
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@@ -24,6 +24,7 @@
<arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<arg name="compressed" default="false"/>
<arg name="convert_depth_to_mm" default="true"/>
<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
<arg name="scan_topic" default="/scan"/>
@@ -92,6 +93,7 @@
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="LccBow/EstimationType" type="string" value="$(arg estimation)"/>
<param name="LccBow/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
<param name="Mem/SaveDepth16Format" type="string" value="$(arg convert_depth_to_mm)"/>
<!-- when 2D scan is set -->
<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>