diff --git a/rtabmap_legacy/launch/azimut3/az3_bag_mapping.launch b/rtabmap_legacy/launch/azimut3/az3_bag_mapping.launch index 6b550ecd..75e33542 100644 --- a/rtabmap_legacy/launch/azimut3/az3_bag_mapping.launch +++ b/rtabmap_legacy/launch/azimut3/az3_bag_mapping.launch @@ -7,7 +7,7 @@ - + @@ -48,6 +48,6 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_bag_record.launch b/rtabmap_legacy/launch/azimut3/az3_bag_record.launch index 343d40a8..3758e3e1 100644 --- a/rtabmap_legacy/launch/azimut3/az3_bag_record.launch +++ b/rtabmap_legacy/launch/azimut3/az3_bag_record.launch @@ -17,11 +17,11 @@ - + - + diff --git a/rtabmap_legacy/launch/azimut3/az3_db_record.launch b/rtabmap_legacy/launch/azimut3/az3_db_record.launch index 71754c45..e8ed7fef 100644 --- a/rtabmap_legacy/launch/azimut3/az3_db_record.launch +++ b/rtabmap_legacy/launch/azimut3/az3_db_record.launch @@ -8,11 +8,11 @@ - + - + @@ -25,7 +25,7 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_mapping_client.launch b/rtabmap_legacy/launch/azimut3/az3_mapping_client.launch index bcc266b4..a8aad27e 100644 --- a/rtabmap_legacy/launch/azimut3/az3_mapping_client.launch +++ b/rtabmap_legacy/launch/azimut3/az3_mapping_client.launch @@ -13,16 +13,16 @@ - + - + - + diff --git a/rtabmap_legacy/launch/azimut3/az3_mapping_client_stereo_nav.launch b/rtabmap_legacy/launch/azimut3/az3_mapping_client_stereo_nav.launch index 372d13df..96dc9a5f 100644 --- a/rtabmap_legacy/launch/azimut3/az3_mapping_client_stereo_nav.launch +++ b/rtabmap_legacy/launch/azimut3/az3_mapping_client_stereo_nav.launch @@ -6,5 +6,5 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_mapping_robot.launch b/rtabmap_legacy/launch/azimut3/az3_mapping_robot.launch index 2dc6e5a5..597598a2 100644 --- a/rtabmap_legacy/launch/azimut3/az3_mapping_robot.launch +++ b/rtabmap_legacy/launch/azimut3/az3_mapping_robot.launch @@ -7,11 +7,11 @@ - + - + @@ -27,7 +27,7 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_odom.launch b/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_odom.launch index d77b825a..b25b3c98 100644 --- a/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_odom.launch +++ b/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_odom.launch @@ -7,11 +7,11 @@ - + - + @@ -27,7 +27,7 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_only.launch b/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_only.launch index a82337dd..457f2e04 100644 --- a/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_only.launch +++ b/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_only.launch @@ -10,10 +10,10 @@ - + - + diff --git a/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_scan.launch b/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_scan.launch index f0d7c07a..b6601af9 100644 --- a/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_scan.launch +++ b/rtabmap_legacy/launch/azimut3/az3_mapping_robot_kinect_scan.launch @@ -9,11 +9,11 @@ - + - + @@ -63,11 +63,11 @@ - - - - - + + + + + @@ -85,7 +85,7 @@ - + @@ -99,7 +99,7 @@ - + @@ -108,7 +108,7 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_mapping_robot_stereo_nav.launch b/rtabmap_legacy/launch/azimut3/az3_mapping_robot_stereo_nav.launch index d8ddce80..030d6c6e 100644 --- a/rtabmap_legacy/launch/azimut3/az3_mapping_robot_stereo_nav.launch +++ b/rtabmap_legacy/launch/azimut3/az3_mapping_robot_stereo_nav.launch @@ -26,11 +26,11 @@ - - - - - + + + + + @@ -70,7 +70,7 @@ - + @@ -89,7 +89,7 @@ - + @@ -98,7 +98,7 @@ - + @@ -111,7 +111,7 @@ - + @@ -132,7 +132,7 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_nav.launch b/rtabmap_legacy/launch/azimut3/az3_nav.launch index b2d006b7..a0f752a8 100644 --- a/rtabmap_legacy/launch/azimut3/az3_nav.launch +++ b/rtabmap_legacy/launch/azimut3/az3_nav.launch @@ -11,11 +11,11 @@ - + - + @@ -92,11 +92,11 @@ - - - - - + + + + + @@ -114,7 +114,7 @@ - + @@ -128,7 +128,7 @@ - + @@ -137,7 +137,7 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_nav_client.launch b/rtabmap_legacy/launch/azimut3/az3_nav_client.launch index bf612dfb..f4abc9d7 100644 --- a/rtabmap_legacy/launch/azimut3/az3_nav_client.launch +++ b/rtabmap_legacy/launch/azimut3/az3_nav_client.launch @@ -18,7 +18,7 @@ - + @@ -27,7 +27,7 @@ - + @@ -44,5 +44,5 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_nav_kinect-only.launch b/rtabmap_legacy/launch/azimut3/az3_nav_kinect-only.launch index f59e8d7b..f8a37885 100644 --- a/rtabmap_legacy/launch/azimut3/az3_nav_kinect-only.launch +++ b/rtabmap_legacy/launch/azimut3/az3_nav_kinect-only.launch @@ -15,14 +15,14 @@ - + - + diff --git a/rtabmap_legacy/launch/azimut3/az3_nav_kinect_odom.launch b/rtabmap_legacy/launch/azimut3/az3_nav_kinect_odom.launch index fe81f486..81523cf7 100644 --- a/rtabmap_legacy/launch/azimut3/az3_nav_kinect_odom.launch +++ b/rtabmap_legacy/launch/azimut3/az3_nav_kinect_odom.launch @@ -11,11 +11,11 @@ - + - + @@ -100,11 +100,11 @@ - - - - - + + + + + @@ -124,7 +124,7 @@ - + @@ -138,7 +138,7 @@ - + @@ -147,7 +147,7 @@ - + diff --git a/rtabmap_legacy/launch/azimut3/az3_openni.launch b/rtabmap_legacy/launch/azimut3/az3_openni.launch index c2212c63..efe7e5ae 100644 --- a/rtabmap_legacy/launch/azimut3/az3_openni.launch +++ b/rtabmap_legacy/launch/azimut3/az3_openni.launch @@ -7,9 +7,9 @@ + value="file://$(find rtabmap_legacy)/launch/azimut3/config/rgb_PS1080_PrimeSense.yaml" /> + value="file://$(find rtabmap_legacy)/launch/azimut3/config/depth_PS1080_PrimeSense.yaml" /> diff --git a/rtabmap_legacy/launch/azimut3/az3_remote_find_object.launch b/rtabmap_legacy/launch/azimut3/az3_remote_find_object.launch index ad1c0dc9..32ce602e 100644 --- a/rtabmap_legacy/launch/azimut3/az3_remote_find_object.launch +++ b/rtabmap_legacy/launch/azimut3/az3_remote_find_object.launch @@ -2,9 +2,9 @@ - + - + diff --git a/rtabmap_legacy/launch/azimut3/az3_remote_mapping_robot.launch b/rtabmap_legacy/launch/azimut3/az3_remote_mapping_robot.launch index 1224f4be..e5abe7c9 100644 --- a/rtabmap_legacy/launch/azimut3/az3_remote_mapping_robot.launch +++ b/rtabmap_legacy/launch/azimut3/az3_remote_mapping_robot.launch @@ -7,11 +7,11 @@ - + - + diff --git a/rtabmap_legacy/launch/azimut3/az3_remote_mapping_rviz.launch b/rtabmap_legacy/launch/azimut3/az3_remote_mapping_rviz.launch index 98714ee5..199dfc28 100644 --- a/rtabmap_legacy/launch/azimut3/az3_remote_mapping_rviz.launch +++ b/rtabmap_legacy/launch/azimut3/az3_remote_mapping_rviz.launch @@ -16,7 +16,7 @@ - + @@ -50,14 +50,14 @@ - + - + - + diff --git a/rtabmap_legacy/launch/azimut3/config/azimut3.rviz b/rtabmap_legacy/launch/azimut3/config/azimut3.rviz index 3c770db4..a8fa7fdc 100644 --- a/rtabmap_legacy/launch/azimut3/config/azimut3.rviz +++ b/rtabmap_legacy/launch/azimut3/config/azimut3.rviz @@ -272,7 +272,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - class: rtabmap_ros/MapCloud + class: rtabmap_rviz_plugins/MapCloud Cloud decimation: 4 Cloud max depth (m): 3 Cloud voxel size (m): 0.02 @@ -298,7 +298,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: true - - class: rtabmap_ros/Info + - class: rtabmap_rviz_plugins/Info Enabled: true Name: Info Topic: /rtabmap/info @@ -330,7 +330,7 @@ Visualization Manager: Value: true Views: Current: - class: rtabmap_ros/OrbitOriented + class: rtabmap_rviz_plugins/OrbitOriented Distance: 7.83194 Enable Stereo Rendering: Stereo Eye Separation: 0.06 diff --git a/rtabmap_legacy/launch/azimut3/config/azimut3_nav.rviz b/rtabmap_legacy/launch/azimut3/config/azimut3_nav.rviz index 061978da..65c7fabc 100644 --- a/rtabmap_legacy/launch/azimut3/config/azimut3_nav.rviz +++ b/rtabmap_legacy/launch/azimut3/config/azimut3_nav.rviz @@ -264,7 +264,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - Class: rtabmap_ros/MapCloud + Class: rtabmap_rviz_plugins/MapCloud Cloud decimation: 1 Cloud max depth (m): 4 Cloud voxel size (m): 0 @@ -290,7 +290,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: true - - Class: rtabmap_ros/Info + - Class: rtabmap_rviz_plugins/Info Enabled: true Name: Info Topic: /rtabmap/info @@ -353,7 +353,7 @@ Visualization Manager: Use rainbow: true Value: true - Alpha: 1 - Class: rtabmap_ros/MapGraph + Class: rtabmap_rviz_plugins/MapGraph Enabled: true Global loop closure: 255; 0; 0 Local loop closure: 255; 255; 0 diff --git a/rtabmap_legacy/launch/azimut3/config/azimut3_stereo_nav.rviz b/rtabmap_legacy/launch/azimut3/config/azimut3_stereo_nav.rviz index f048a098..cc4dfcae 100644 --- a/rtabmap_legacy/launch/azimut3/config/azimut3_stereo_nav.rviz +++ b/rtabmap_legacy/launch/azimut3/config/azimut3_stereo_nav.rviz @@ -288,7 +288,7 @@ Visualization Manager: Value: true Axis: Z Channel Name: intensity - class: rtabmap_ros/MapCloud + class: rtabmap_rviz_plugins/MapCloud Cloud decimation: 8 Cloud max depth (m): 4 Cloud voxel size (m): 0 @@ -314,7 +314,7 @@ Visualization Manager: Use Fixed Frame: true Use rainbow: true Value: true - - class: rtabmap_ros/Info + - class: rtabmap_rviz_plugins/Info Enabled: true Name: Info Topic: /rtabmap/info @@ -350,7 +350,7 @@ Visualization Manager: Topic: /planner/move_base/TrajectoryPlannerROS/local_plan Value: true - Alpha: 1 - class: rtabmap_ros/MapGraph + class: rtabmap_rviz_plugins/MapGraph Color: 0; 0; 255 Enabled: true Name: MapGraph @@ -404,7 +404,7 @@ Visualization Manager: Value: true Views: Current: - class: rtabmap_ros/OrbitOriented + class: rtabmap_rviz_plugins/OrbitOriented Distance: 6.3581 Enable Stereo Rendering: Stereo Eye Separation: 0.06 diff --git a/rtabmap_legacy/launch/calibration/depth_PS1080_PrimeSense.yaml b/rtabmap_legacy/launch/azimut3/config/depth_PS1080_PrimeSense.yaml similarity index 100% rename from rtabmap_legacy/launch/calibration/depth_PS1080_PrimeSense.yaml rename to rtabmap_legacy/launch/azimut3/config/depth_PS1080_PrimeSense.yaml diff --git a/rtabmap_legacy/launch/azimut3/config/global_costmap_params.yaml b/rtabmap_legacy/launch/azimut3/config/global_costmap_params.yaml index 12895d12..aaeb3445 100644 --- a/rtabmap_legacy/launch/azimut3/config/global_costmap_params.yaml +++ b/rtabmap_legacy/launch/azimut3/config/global_costmap_params.yaml @@ -5,7 +5,7 @@ update_frequency: 1 publish_frequency: 1 always_send_full_costmap: false plugins: - - {name: static_layer, type: "rtabmap_ros::StaticLayer"} + - {name: static_layer, type: "rtabmap_costmap_plugins::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} diff --git a/rtabmap_legacy/launch/calibration/rgb_PS1080_PrimeSense.yaml b/rtabmap_legacy/launch/azimut3/config/rgb_PS1080_PrimeSense.yaml similarity index 100% rename from rtabmap_legacy/launch/calibration/rgb_PS1080_PrimeSense.yaml rename to rtabmap_legacy/launch/azimut3/config/rgb_PS1080_PrimeSense.yaml diff --git a/rtabmap_legacy/launch/calibration/00b09d010081e00e_left.yaml b/rtabmap_legacy/launch/calibration/00b09d010081e00e_left.yaml deleted file mode 100644 index d2058430..00000000 --- a/rtabmap_legacy/launch/calibration/00b09d010081e00e_left.yaml +++ /dev/null @@ -1,20 +0,0 @@ -image_width: 640 -image_height: 480 -camera_name: 00b09d010081e00e_left -camera_matrix: - rows: 3 - cols: 3 - data: [520.84106910681, 0, 320.207922533597, 0, 520.652683004955, 251.69140630101, 0, 0, 1] -distortion_model: plumb_bob -distortion_coefficients: - rows: 1 - cols: 5 - data: [-0.344858300062205, 0.131731614744127, -0.00032220157418798, -0.000178643627395838, 0] -rectification_matrix: - rows: 3 - cols: 3 - data: [0.999977409119708, -0.00542294021453702, -0.00397151981806852, 0.00542696944573559, 0.999984769417176, 0.00100445821860056, 0.00396601221263954, -0.00102598884371095, 0.999991609011807] -projection_matrix: - rows: 3 - cols: 4 - data: [487.608731712861, 0, 318.1162109375, 0, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0] \ No newline at end of file diff --git a/rtabmap_legacy/launch/calibration/00b09d010081e00e_right.yaml b/rtabmap_legacy/launch/calibration/00b09d010081e00e_right.yaml deleted file mode 100644 index 82941954..00000000 --- a/rtabmap_legacy/launch/calibration/00b09d010081e00e_right.yaml +++ /dev/null @@ -1,20 +0,0 @@ -image_width: 640 -image_height: 480 -camera_name: 00b09d010081e00e_right -camera_matrix: - rows: 3 - cols: 3 - data: [525.042672813, 0, 315.778978739153, 0, 524.605377865008, 246.116481979902, 0, 0, 1] -distortion_model: plumb_bob -distortion_coefficients: - rows: 1 - cols: 5 - data: [-0.350198880846778, 0.143262162037345, -0.000540958577710845, -0.000386869942974346, 0] -rectification_matrix: - rows: 3 - cols: 3 - data: [0.999991166299663, -0.00384047779504094, 0.00170823094047773, 0.00384221006573169, 0.999992106658553, -0.00101194980141688, -0.0017043310860856, 0.0010185042442697, 0.999998028950384] -projection_matrix: - rows: 3 - cols: 4 - data: [487.608731712861, 0, 318.1162109375, -58.3626989865376, 0, 487.608731712861, 249.44425201416, 0, 0, 0, 1, 0] \ No newline at end of file diff --git a/rtabmap_legacy/launch/calibration/distortion_model_PS1080.bin b/rtabmap_legacy/launch/calibration/distortion_model_PS1080.bin deleted file mode 100644 index 54ee5d35..00000000 Binary files a/rtabmap_legacy/launch/calibration/distortion_model_PS1080.bin and /dev/null differ diff --git a/rtabmap_legacy/launch/calibration/distortion_model_PS1080.png b/rtabmap_legacy/launch/calibration/distortion_model_PS1080.png deleted file mode 100644 index 3c9ab89c..00000000 Binary files a/rtabmap_legacy/launch/calibration/distortion_model_PS1080.png and /dev/null differ diff --git a/rtabmap_legacy/launch/calibration/euroc_left.yaml b/rtabmap_legacy/launch/calibration/euroc_left.yaml deleted file mode 100644 index 92b7974e..00000000 --- a/rtabmap_legacy/launch/calibration/euroc_left.yaml +++ /dev/null @@ -1,30 +0,0 @@ -#%YAML:1.0 ---- -camera_name: MH_01_easy_left -image_width: 752 -image_height: 480 -camera_matrix: - rows: 3 - cols: 3 - data: [ 4.5865400000000000e+02, 0., 3.6721499999999997e+02, 0., - 4.5729599999999999e+02, 2.4837500000000000e+02, 0., 0., 1. ] -distortion_coefficients: - rows: 1 - cols: 4 - data: [ -2.8340810999999999e-01, 7.3959070000000002e-02, - 1.9358999999999999e-04, 1.7618711400000001e-05 ] -distortion_model: plumb_bob -rectification_matrix: - rows: 3 - cols: 3 - data: [ 9.9996634750298619e-01, -1.4227432298321767e-03, - 8.0795831104762770e-03, 1.3657459036274155e-03, - 9.9997417608074302e-01, 7.0556296505566432e-03, - -8.0894128132919258e-03, -7.0443575534647465e-03, - 9.9994246755850658e-01 ] -projection_matrix: - rows: 3 - cols: 4 - data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, 0., 0., - 4.3520469597145990e+02, 2.5220085144042969e+02, 0., 0., 0., 1., - 0. ] diff --git a/rtabmap_legacy/launch/calibration/euroc_right.yaml b/rtabmap_legacy/launch/calibration/euroc_right.yaml deleted file mode 100644 index f5ebe0d3..00000000 --- a/rtabmap_legacy/launch/calibration/euroc_right.yaml +++ /dev/null @@ -1,30 +0,0 @@ -#%YAML:1.0 ---- -camera_name: MH_01_easy_right -image_width: 752 -image_height: 480 -camera_matrix: - rows: 3 - cols: 3 - data: [ 4.5758699999999999e+02, 0., 3.7999900000000002e+02, 0., - 4.5613400000000001e+02, 2.5523800000000000e+02, 0., 0., 1. ] -distortion_coefficients: - rows: 1 - cols: 4 - data: [ -2.8368365000000001e-01, 7.4512839999999997e-02, - -1.0473000000000000e-04, -3.5559070000000001e-05 ] -distortion_model: plumb_bob -rectification_matrix: - rows: 3 - cols: 3 - data: [ 9.9996335257946345e-01, -3.6258159819210472e-03, - 7.7554468926514068e-03, 3.6804026836554193e-03, - 9.9996847525904631e-01, -7.0358456623254633e-03, - -7.7296917225483383e-03, 7.0641309842873097e-03, - 9.9994517345668066e-01 ] -projection_matrix: - rows: 3 - cols: 4 - data: [ 4.3520469597145990e+02, 0., 3.6745172119140625e+02, - -4.7906395664848930e+01, 0., 4.3520469597145990e+02, - 2.5220085144042969e+02, 0., 0., 0., 1., 0. ] diff --git a/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_color.yaml b/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_color.yaml deleted file mode 100644 index 5262fd3d..00000000 --- a/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_color.yaml +++ /dev/null @@ -1,21 +0,0 @@ -%YAML:1.0 -cameraMatrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 1035.409658, 0., 953.629091, 0., 1036.265896, 550.972045, 0., 0., 1. ] -distortionCoefficients: !!opencv-matrix - rows: 1 - cols: 5 - dt: d - data: [ 0.046857, -0.054802, 0.002446, -0.001013, 0. ] -rotation: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] -projection: !!opencv-matrix - rows: 4 - cols: 4 - dt: d - data: [ 1034.458862, 0., 949.608678, 0., 0., 1046.304565, 553.032416, 0., 0., 0., 1., 0., 0., 0., 0., 1. ] diff --git a/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_ir.yaml b/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_ir.yaml deleted file mode 100644 index 5c468732..00000000 --- a/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_ir.yaml +++ /dev/null @@ -1,26 +0,0 @@ -%YAML:1.0 -cameraMatrix: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 3.6979200177991152e+02, 0., 2.5040545556144602e+02, 0., - 3.6934874236487565e+02, 2.0812949708935565e+02, 0., 0., 1. ] -distortionCoefficients: !!opencv-matrix - rows: 1 - cols: 5 - dt: d - data: [ 1.0599430434497996e-01, -2.7091691685678082e-01, - 4.8231954365675019e-04, -3.1761820716379199e-05, - 7.7492684133604814e-02 ] -rotation: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ] -projection: !!opencv-matrix - rows: 4 - cols: 4 - dt: d - data: [ 3.6979200177991152e+02, 0., 2.5040545556144602e+02, 0., 0., - 3.6934874236487565e+02, 2.0812949708935565e+02, 0., 0., 0., 1., - 0., 0., 0., 0., 1. ] diff --git a/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_pose.yaml b/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_pose.yaml deleted file mode 100644 index 86daaa8f..00000000 --- a/rtabmap_legacy/launch/calibration/kinect2/506816242542/calib_pose.yaml +++ /dev/null @@ -1,33 +0,0 @@ -%YAML:1.0 -rotation: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ 9.9998557008106792e-01, 1.2305561691822327e-03, - -5.2292792195576393e-03, -1.3388135514396061e-03, - 9.9978381286062756e-01, -2.0749340233854399e-02, - 5.2026154880109553e-03, 2.0756041852440336e-02, - 9.9977103354653341e-01 ] -translation: !!opencv-matrix - rows: 3 - cols: 1 - dt: d - data: [ -5.1351463516082281e-02, 2.3299760970435590e-03, - -1.6640325723173980e-02 ] -essential: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ -1.0156323849380249e-05, 1.6685089380143084e-02, - 1.9841668306476608e-03, -1.6372923685201993e-02, - 1.0453762704480134e-03, 5.1426722663111546e-02, - -2.2611924404357772e-03, -5.1343229156542415e-02, - 1.0776930835878881e-03 ] -fundamental: !!opencv-matrix - rows: 3 - cols: 3 - dt: d - data: [ -4.8742459614193642e-09, 8.0171558549327292e-06, - -1.3152531820940182e-03, -7.8512380180953911e-06, - 5.0188640603529770e-07, 1.0980767538413172e-02, - 3.2068378477732255e-03, -3.3465816946061419e-02, 1. ] diff --git a/rtabmap_legacy/launch/calibration/kinect2/README.txt b/rtabmap_legacy/launch/calibration/kinect2/README.txt deleted file mode 100644 index d9eb11a5..00000000 --- a/rtabmap_legacy/launch/calibration/kinect2/README.txt +++ /dev/null @@ -1,12 +0,0 @@ -Kinect v2 calibration: - Copy "506816242542" folder in "~/catkin_ws/src/iai_kinect2/kinect2_bridge/data" - -The number is the Kinect serial shown when launching kinect2_brige: - ... - [Freenect2Impl] enumerating devices... - [Freenect2Impl] 12 usb devices connected - [Freenect2Impl] found valid Kinect v2 @4:3 with serial 506816242542 - [Freenect2Impl] found 1 devices - Kinect2 devices found: - 0: 506816242542 (selected) - ... diff --git a/rtabmap_legacy/launch/config/rgbd_gui.ini b/rtabmap_legacy/launch/config/rgbd_gui.ini deleted file mode 100644 index ace102a2..00000000 --- a/rtabmap_legacy/launch/config/rgbd_gui.ini +++ /dev/null @@ -1,363 +0,0 @@ -[Gui] -AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x2\0\0\0\0\0\0\0\0\0\x1b\0\0\x2\xf7\0\0\x2\xfc\0\0\0\0\0\0\0\x1b\0\0\x2\xf7\0\0\x2\xfc\0\0\0\0\0\0\0\0\a\x80) -DepthCalibrationDialog\bin_depth=2 -DepthCalibrationDialog\bin_height=6 -DepthCalibrationDialog\bin_width=8 -DepthCalibrationDialog\cone_radius=0.02 -DepthCalibrationDialog\cone_stddev_thresh=0.1 -DepthCalibrationDialog\decimation=1 -DepthCalibrationDialog\laser_scan=false -DepthCalibrationDialog\max_depth=3.5 -DepthCalibrationDialog\max_model_depth=10 -DepthCalibrationDialog\min_depth=0 -DepthCalibrationDialog\smoothing=1 -DepthCalibrationDialog\voxel=0.01 -ExportBundlerDialog\exportPoints=false -ExportBundlerDialog\laplacianThr=0 -ExportBundlerDialog\maxAngularSpeed=0 -ExportBundlerDialog\maxLinearSpeed=0 -ExportBundlerDialog\sba_iterations=20 -ExportBundlerDialog\sba_rematch_features=true -ExportBundlerDialog\sba_type=0 -ExportBundlerDialog\sba_variance=1 -ExportCloudsDialog\assemble=true -ExportCloudsDialog\assemble_voxel=0.005 -ExportCloudsDialog\bilateral=false -ExportCloudsDialog\bilateral_sigma_r=0.1 -ExportCloudsDialog\bilateral_sigma_s=10 -ExportCloudsDialog\binary=true -ExportCloudsDialog\cputsdf_flattenRadius=0.005 -ExportCloudsDialog\cputsdf_minWeight=0 -ExportCloudsDialog\cputsdf_randomSplit=1 -ExportCloudsDialog\cputsdf_resolution=0.01 -ExportCloudsDialog\cputsdf_size=12 -ExportCloudsDialog\cputsdf_truncNeg=0.03 -ExportCloudsDialog\cputsdf_truncPos=0.03 -ExportCloudsDialog\filtering=false -ExportCloudsDialog\filtering_min_neighbors=2 -ExportCloudsDialog\filtering_radius=0.02 -ExportCloudsDialog\frame=0 -ExportCloudsDialog\from_depth=true -ExportCloudsDialog\gain=false -ExportCloudsDialog\gain_beta=10 -ExportCloudsDialog\gain_full=false -ExportCloudsDialog\gain_overlap=0 -ExportCloudsDialog\gain_radius=0.02 -ExportCloudsDialog\gain_rgb=true -ExportCloudsDialog\mesh=false -ExportCloudsDialog\mesh_angle_tolerance=15 -ExportCloudsDialog\mesh_clean=true -ExportCloudsDialog\mesh_color_radius=0.03 -ExportCloudsDialog\mesh_decimation_factor=0 -ExportCloudsDialog\mesh_dense_strategy=1 -ExportCloudsDialog\mesh_k=20 -ExportCloudsDialog\mesh_max_polygons=0 -ExportCloudsDialog\mesh_min_cluster_size=0 -ExportCloudsDialog\mesh_mu=2.5 -ExportCloudsDialog\mesh_quad=false -ExportCloudsDialog\mesh_radius=0.04 -ExportCloudsDialog\mesh_texture=false -ExportCloudsDialog\mesh_textureBlending=true -ExportCloudsDialog\mesh_textureBlendingDecimation=0 -ExportCloudsDialog\mesh_textureBrightnessConstrastRatioHigh=0 -ExportCloudsDialog\mesh_textureBrightnessConstrastRatioLow=0 -ExportCloudsDialog\mesh_textureCameraFiltering=false 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-graphicsView_graphView\local_path_visible=true -graphicsView_graphView\local_radius_visible=false -graphicsView_graphView\loop_closure_outlier_thr=@Variant(\0\0\0\x87\0\0\0\0) -graphicsView_graphView\max_link_length=@Variant(\0\0\0\x87<\xa3\xd7\n) -graphicsView_graphView\neighbor_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) -graphicsView_graphView\neighbor_merged_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xaa\xaa\0\0\0\0) -graphicsView_graphView\node_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\xff\xff\0\0) -graphicsView_graphView\node_radius=0.009999999776482582 -graphicsView_graphView\orientation_ENU=false -graphicsView_graphView\origin_visible=true -graphicsView_graphView\referential_visible=true -graphicsView_graphView\rejected_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) -graphicsView_graphView\user_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\0\0\0\0) -graphicsView_graphView\virtual_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) -imageView_loopClosure\alpha=150 -imageView_loopClosure\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) -imageView_loopClosure\colormap=0 -imageView_loopClosure\depth_shown=false -imageView_loopClosure\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) -imageView_loopClosure\features_shown=true -imageView_loopClosure\features_size=0 -imageView_loopClosure\graphics_view=false -imageView_loopClosure\graphics_view_scale=true -imageView_loopClosure\graphics_view_scale_to_height=false -imageView_loopClosure\image_shown=true -imageView_loopClosure\lines_shown=true -imageView_loopClosure\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) -imageView_loopClosure\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) -imageView_odometry\alpha=200 -imageView_odometry\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) -imageView_odometry\colormap=0 -imageView_odometry\depth_shown=false -imageView_odometry\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) -imageView_odometry\features_shown=true -imageView_odometry\features_size=0 -imageView_odometry\graphics_view=false -imageView_odometry\graphics_view_scale=true -imageView_odometry\graphics_view_scale_to_height=false -imageView_odometry\image_shown=true -imageView_odometry\lines_shown=true -imageView_odometry\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) -imageView_odometry\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) -imageView_source\alpha=150 -imageView_source\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) -imageView_source\colormap=0 -imageView_source\depth_shown=false -imageView_source\feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\xff\xff\0\0\0\0) -imageView_source\features_shown=true -imageView_source\features_size=0 -imageView_source\graphics_view=false -imageView_source\graphics_view_scale=true -imageView_source\graphics_view_scale_to_height=false -imageView_source\image_shown=true -imageView_source\lines_shown=true -imageView_source\matching_feature_color=@Variant(\0\0\0\x43\x1\xff\xff\xff\xff\0\0\xff\xff\0\0) -imageView_source\matching_line_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\xff\xff\xff\xff\0\0) -widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0) -widget_cloudViewer\camera_axis_shown=true -widget_cloudViewer\camera_focal="@Variant(\0\0\0T?>\"\xb0=!\xa5\0?>!\xe6)" -widget_cloudViewer\camera_free=false -widget_cloudViewer\camera_lockZ=true -widget_cloudViewer\camera_ortho=false -widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xc0G\xad|>\r\xa4\x10@h\xe3\x46) -widget_cloudViewer\camera_target_follow=true -widget_cloudViewer\camera_target_locked=false -widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0?\x80\0\0) -widget_cloudViewer\frustum_color=@Variant(\0\0\0\x43\x1\xff\xff\xa0\xa0\xa0\xa0\xa4\xa4\0\0) -widget_cloudViewer\frustum_scale=@Variant(\0\0\0\x87?\0\0\0) -widget_cloudViewer\frustum_shown=true -widget_cloudViewer\grid=false -widget_cloudViewer\grid_cell_count=50 -widget_cloudViewer\grid_cell_size=1 -widget_cloudViewer\intensity_max=0 -widget_cloudViewer\intensity_red_colormap=false -widget_cloudViewer\normals=false -widget_cloudViewer\normals_scale=0.20000000298023224 -widget_cloudViewer\normals_step=1 -widget_cloudViewer\rendering_rate=5 -widget_cloudViewer\trajectory_shown=true -widget_cloudViewer\trajectory_size=100 diff --git a/rtabmap_legacy/launch/jfr2018/launch_lidar b/rtabmap_legacy/launch/jfr2018/launch_lidar index 1b2d1e87..f40b2e90 100755 --- a/rtabmap_legacy/launch/jfr2018/launch_lidar +++ b/rtabmap_legacy/launch/jfr2018/launch_lidar @@ -1,5 +1,5 @@ // icp_odometry with guess from odom_combined frame -$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Reg/Force3DoF true --Reg/Strategy 1 --RGBD/ProximityPathMaxNeighbors 10 --RGBD/ProximityPathFilteringRadius 1 --RGBD/ProximityByTime false --Mem/STMSize 30 --Mem/LaserScanVoxelSize 0.05 --Icp/VoxelSize 0.0 --Mem/LaserScanNormalK 5 --Mem/LaserScanNormalRadius 1 --Icp/Epsilon 0.001 --Icp/MaxTranslation 0.5 --RGBD/OptimizeMaxError 1 --Icp/PointToPlane true --Icp/CorrespondenceRatio 0.10 --Icp/PMOutlierRatio 0.95 --Mem/BinDataKept true --Grid/RangeMax 0 --Kp/DetectorStrategy 0 --Kp/MaxFeatures 200 --SURF/HessianThreshold 100 --Vis/MaxFeatures 500 --Mem/UseOdomFeatures false" odom_args:="--Icp/VoxelSize 0.05 --Icp/PointToPlaneRadius 1 --Odom/GuessMotion true --Odom/Strategy 0" rgbd_sync:=true subscribe_scan:=true frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true visual_odometry:=false odom_guess_frame_id:=odom_combined odom_guess_min_translation:=0.1 odom_guess_min_rotation:=0.1 odom_topic:=odom icp_odometry:=true database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db +$ roslaunch rtabmap_launch rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Reg/Force3DoF true --Reg/Strategy 1 --RGBD/ProximityPathMaxNeighbors 10 --RGBD/ProximityPathFilteringRadius 1 --RGBD/ProximityByTime false --Mem/STMSize 30 --Mem/LaserScanVoxelSize 0.05 --Icp/VoxelSize 0.0 --Mem/LaserScanNormalK 5 --Mem/LaserScanNormalRadius 1 --Icp/Epsilon 0.001 --Icp/MaxTranslation 0.5 --RGBD/OptimizeMaxError 1 --Icp/PointToPlane true --Icp/CorrespondenceRatio 0.10 --Icp/PMOutlierRatio 0.95 --Mem/BinDataKept true --Grid/RangeMax 0 --Kp/DetectorStrategy 0 --Kp/MaxFeatures 200 --SURF/HessianThreshold 100 --Vis/MaxFeatures 500 --Mem/UseOdomFeatures false" odom_args:="--Icp/VoxelSize 0.05 --Icp/PointToPlaneRadius 1 --Odom/GuessMotion true --Odom/Strategy 0" rgbd_sync:=true subscribe_scan:=true frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true visual_odometry:=false odom_guess_frame_id:=odom_combined odom_guess_min_translation:=0.1 odom_guess_min_rotation:=0.1 odom_topic:=odom icp_odometry:=true database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db // proximity space short range scan_topic:=/base_scan_t_filtered // proximity space longer range diff --git a/rtabmap_legacy/launch/jfr2018/launch_rgbd b/rtabmap_legacy/launch/jfr2018/launch_rgbd index ec295f26..ef144d4f 100755 --- a/rtabmap_legacy/launch/jfr2018/launch_rgbd +++ b/rtabmap_legacy/launch/jfr2018/launch_rgbd @@ -1,5 +1,5 @@ // rgbd_odometry -$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --RGBD/OptimizeMaxError 0.5 --FAST/Threshold 7" odom_args:="--Odom/Strategy 0 --Vis/CorType 0 --Odom/KeyFrameThr 0.3 --OdomF2M/MaxSize 2000 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15" rgbd_sync:=true depth_scale:=1.043 frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true odom_topic:=odom rgb_topic:=/camera/rgb/image_raw_throttle depth_topic:=/camera/depth/image_raw_throttle camera_info_topic:=/camera/rgb/camera_info_throttle approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined +$ roslaunch rtabmap_launch rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --RGBD/OptimizeMaxError 0.5 --FAST/Threshold 7" odom_args:="--Odom/Strategy 0 --Vis/CorType 0 --Odom/KeyFrameThr 0.3 --OdomF2M/MaxSize 2000 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15" rgbd_sync:=true depth_scale:=1.043 frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true odom_topic:=odom rgb_topic:=/camera/rgb/image_raw_throttle depth_topic:=/camera/depth/image_raw_throttle camera_info_topic:=/camera/rgb/camera_info_throttle approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined // use wheel odom odom_frame_id:=odom_combined odom_tf_angular_variance:=0.0001 odom_tf_linear_variance:=0.0001 visual_odometry:=false // flow diff --git a/rtabmap_legacy/launch/jfr2018/launch_stereo b/rtabmap_legacy/launch/jfr2018/launch_stereo index e4a33811..21ee5159 100755 --- a/rtabmap_legacy/launch/jfr2018/launch_stereo +++ b/rtabmap_legacy/launch/jfr2018/launch_stereo @@ -1,5 +1,5 @@ // stereo_odometry -$ roslaunch rtabmap_ros rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --Odom/KeyFrameThr 0.3 --Odom/Strategy 0 --OdomF2M/MaxSize 2000 --RGBD/OptimizeMaxError 0.5 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15 --FAST/Threshold 7" odom_args:="--Vis/CorType 0" frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true stereo:=true stereo_namespace:=/wide_stereo left_camera_info_topic:=/wide_stereo/left/camera_info_throttle right_camera_info_topic:=/wide_stereo/right/camera_info_scaled odom_topic:=odom approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined +$ roslaunch rtabmap_launch rtabmap.launch args:="-d --Rtabmap/PublishRAMUsage true --Rtabmap/StartNewMapOnLoopClosure true --Reg/Force3DoF false --RGBD/ProximityPathMaxNeighbors 0 --Mem/STMSize 15 --Mem/BinDataKept false --Kp/FlannRebalancingFactor 1.0 --RGBD/LinearUpdate 0 --RGBD/ProximityBySpace true --Odom/KeyFrameThr 0.3 --Odom/Strategy 0 --OdomF2M/MaxSize 2000 --RGBD/OptimizeMaxError 0.5 --OdomORBSLAM2/VocPath /home/mathieu/workspace/ORB_SLAM2/Vocabulary/ORBvoc.txt --OdomORBSLAM2/Fps 15 --FAST/Threshold 7" odom_args:="--Vis/CorType 0" frame_id:=base_footprint ground_truth_frame_id:=world ground_truth_base_frame_id:=scan_gt use_sim_time:=true stereo:=true stereo_namespace:=/wide_stereo left_camera_info_topic:=/wide_stereo/left/camera_info_throttle right_camera_info_topic:=/wide_stereo/right/camera_info_scaled odom_topic:=odom approx_sync:=false database_path:=/media/mathieu/5B60E7B25BDFCB79/bags/rtabmap.db odom_guess_frame_id:=odom_combined // with wheel odom odom_frame_id:=odom_combined odom_tf_angular_variance:=0.0001 odom_tf_linear_variance:=0.0001 visual_odometry:=false // flow diff --git a/rtabmap_legacy/launch/rgbd_mapping.launch b/rtabmap_legacy/launch/rgbd_mapping.launch index e0d9a7c6..73236e61 100644 --- a/rtabmap_legacy/launch/rgbd_mapping.launch +++ b/rtabmap_legacy/launch/rgbd_mapping.launch @@ -17,7 +17,7 @@ - + @@ -43,8 +43,8 @@ - - + + diff --git a/rtabmap_legacy/launch/rgbd_mapping_kinect2.launch b/rtabmap_legacy/launch/rgbd_mapping_kinect2.launch index 039422a1..55582b40 100644 --- a/rtabmap_legacy/launch/rgbd_mapping_kinect2.launch +++ b/rtabmap_legacy/launch/rgbd_mapping_kinect2.launch @@ -7,7 +7,7 @@ Make sure it is calibrated! Run: $ roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true - $ roslaunch rtabmap_ros rgbd_mapping_kinect2.launch + $ roslaunch rtabmap_legacy rgbd_mapping_kinect2.launch --> @@ -27,8 +27,8 @@ - - + + @@ -37,7 +37,7 @@ - + @@ -51,7 +51,7 @@ - + @@ -66,7 +66,7 @@ - + diff --git a/rtabmap_legacy/launch/stereo_mapping.launch b/rtabmap_legacy/launch/stereo_mapping.launch index c7927d88..e820d824 100644 --- a/rtabmap_legacy/launch/stereo_mapping.launch +++ b/rtabmap_legacy/launch/stereo_mapping.launch @@ -16,8 +16,8 @@ - - + + @@ -45,9 +45,9 @@ - + - +