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updated test_stereo_data_recorder.launch to record rectified images in

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database format directly
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Mathieu Labbe
2015-01-08 16:08:12 -05:00
parent 2fe6dc6d68
commit 33d69a64a8
1 changed files with 37 additions and 67 deletions
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launch/tests/test_stereo_data_recorder.launch
+37 -67
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@@ -1,86 +1,56 @@
<launch>
<!-- from bag: rosbag record /stereo_camera/left/image_rect/compressed /stereo_camera/right/image_rect/compressed /stereo_camera/left/camera_info /stereo_camera/right/camera_info /stereo_camera/depth/compressedDepth -->
<param name="use_sim_time" type="bool" value="True"/>
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
<param name="format7_color_coding" value="raw16" />
<param name="bayer_pattern" value="bggr" />
<param name="bayer_method" value="" />
<param name="stereo_method" value="Interlaced" />
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<!--
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
<param name="image_transport" type="string" value="compressed"/>
</node>
-->
<node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="odom_depth" to="/stereo_camera/depth2"/>
<param name="left/image_transport" type="string" value="compressed"/>
<param name="right/image_transport" type="string" value="compressed"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<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="subpix_win_size" type="int" value="3"/>
<param name="subpix_iterations" type="int" value="20"/>
<param name="subpix_epsilon" type="double" value="0.02"/>
<param name="flow_win_size" type="int" value="9"/>
<param name="flow_max_level" type="int" value="4"/>
<param name="flow_iterations" type="int" value="20"/>
<param name="flow_epsilon" type="double" value="0.02"/>
</node>
<!-- Run the ROS package stereo_image_proc -->
<group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="20"/>
</node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
<node name="data_recorder" pkg="rtabmap_ros" type="data_recorder" output="screen">
<param name="output_file_name" value="output.db" type="string"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="subscribe_odometry" type="bool" value="true"/>
<param name="subscribe_odometry" type="bool" value="false"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="queue_size" type="int" value="20"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect"/>
<remap from="depth/image" to="/stereo_camera/depth2"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="left/image_transport" type="string" value="compressed"/>
<param name="right/image_transport" type="string" value="compressed"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect_color"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<param name="queue_size" type="int" value="10"/>
</node>
</launch>
</launch>