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usyd example: Updated key frame thr based on new Icp/ReciprocalCorrespondences

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matlabbe
2023-04-06 20:59:53 -07:00
parent 3a64c5506f
commit 3a4121a5ed
1 changed files with 13 additions and 7 deletions
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rtabmap_examples/launch/usyd_dataset.launch
+13 -7
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@@ -16,7 +16,7 @@
<arg name="resolution" default="0.5"/>
<arg name="local_map_size" default="10000"/>
<arg name="key_frame_thr" default="0.8"/>
<arg name="key_frame_thr" default="0.5"/>
<!-- Regenerate lidar point clouds with timestamps -->
<node pkg="nodelet" type="nodelet" name="velodyne_transform" args="standalone velodyne_pointcloud/TransformNodelet" ns="velodyne/front">
@@ -36,6 +36,15 @@
<param name="frame_id" value="vn100_imu_link"/>
<param name="odom_frame_id" value="vn100_odom"/>
</node>
<!-- Recompute IMU quaternion -->
<node pkg="nodelet" type="nodelet" name="imu_filter" args="standalone imu_filter_madgwick/ImuFilterNodelet">
<remap from="imu/data_raw" to="/vn100/imu"/>
<remap from="imu/data" to="/vn100/imu/filtered"/>
<param name="use_mag" value="false"/>
<param name="world_frame" value="enu"/>
<param name="publish_tf" value="false"/>
</node>
<!-- Lidar Deskewing -->
<node if="$(arg deskewing)" pkg="nodelet" type="nodelet" name="lidar_deskewing" args="standalone rtabmap_util/lidar_deskewing" output="screen">
@@ -69,7 +78,7 @@
<!-- Lidar Odometry -->
<node pkg="rtabmap_odom" type="icp_odometry" name="icp_odometry" output="screen">
<remap from="scan_cloud" to="$(arg scan_topic_deskewed)"/>
<remap from="imu" to="/vn100/imu"/>
<remap from="imu" to="/vn100/imu/filtered"/>
<param name="guess_frame_id" type="string" value="odom"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="lidar_odom"/>
@@ -81,7 +90,6 @@
<!-- ICP parameters -->
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/Iterations" type="string" value="10"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
<param name="Icp/MaxTranslation" type="string" value="2"/>
<param name="Icp/OutlierRatio" type="string" value="0.7"/>
@@ -120,7 +128,7 @@
<remap from="scan_cloud" to="$(arg scan_topic_deskewed)"/>
<remap from="gps/fix" to="/ublox_gps/fix"/>
<remap from="imu" to="/vn100/imu"/>
<remap from="imu" to="/vn100/imu/filtered"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
@@ -148,9 +156,7 @@
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
<param name="Icp/PointToPlane" type="string" value="false"/>
<param name="Icp/Iterations" type="string" value="15"/>
<param name="Icp/Epsilon" type="string" value="0.001"/>
<param name="Icp/PMMatcherEpsilon" type="string" value="0.001"/>
<param name="Icp/Iterations" type="string" value="30"/>
<param name="Icp/MaxTranslation" type="string" value="5"/>
<param name="Icp/MaxCorrespondenceDistance" type="string" value="3"/>
<param name="Icp/OutlierRatio" type="string" value="0.7"/>