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ros: added experimental homemade stereo odometry algorithm

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1840 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-06 19:43:39 +00:00
parent 2fc938ebb0
commit 38e773a6be
5 changed files with 679 additions and 22 deletions
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launch/demo/demo_stereo.launch
+37 -6
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@@ -27,7 +27,7 @@
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap/disparity_to_depth standalone_nodelet"/>
</group>
<!-- Odometry: Choose between viso2_ros fovis_ros and homemade package -->
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade packages -->
<!--
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
@@ -51,7 +51,7 @@
<remap from="rgb/camera_info" to="stereo_camera/left/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="frame_id" type="string" value="/base_link"/>
<param name="Odom/Type" type="string" value="6"/>
<param name="Odom/NearestNeighbor" type="string" value="3"/>
@@ -60,11 +60,42 @@
<param name="Odom/NNDR" type="string" value="0.8"/>
<param name="Odom/WordsRatio" type="string" value="0.5"/>
<param name="Odom/LocalHistory" type="string" value="1000"/>
<param name="Odom/InlierDistance" type="string" value="0.02"/>
<param name="Odom/InlierDistance" type="string" value="0.01"/>
<param name="GFTT/MaxCorners" type="string" value="400"/>
<param name="BRIEF\Bytes" type="string" value="16"/>
<param name="BRIEF/Bytes" type="string" value="16"/>
</node>
-->
<!--
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<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"/>
<remap from="right/camera_info" to="stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="/base_link"/>
<param name="min_disparity" type="int" value="0"/>
<param name="max_disparity" type="int" value="128"/>
<param name="k" type="int" value="10"/>
<param name="Odom/Type" type="string" value="6"/>
<param name="Odom/NearestNeighbor" type="string" value="3"/>
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/Iterations" type="string" value="200"/>
<param name="Odom/MaxDepth" type="string" value="4"/>
<param name="Odom/NNDR" type="string" value="0.8"/>
<param name="Odom/WordsRatio" type="string" value="0.5"/>
<param name="Odom/LocalHistory" type="string" value="200"/>
<param name="Odom/InlierDistance" type="string" value="0.01"/>
<param name="GFTT/MaxCorners" type="string" value="800"/>
<param name="BRIEF/Bytes" type="string" value="16"/>
<param name="BRISK/Octaves" type="string" value="0"/>
<param name="BRISK/Thresh" type="string" value="10"/>
</node>
-->
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
@@ -81,7 +112,7 @@
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="/base_link"/>
<param name="queue_size" type="int" value="30"/>
<param name="queue_size" type="int" value="50"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -122,7 +153,7 @@
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
<param name="queue_size" type="int" value="30"/>
<param name="queue_size" type="int" value="50"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>