mirror of
https://github.com/introlab/rtabmap_ros.git
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ros-pkg/visual_odometry: Publishing the local map and the last frame features as clouds (generated only if there is a subscriber). Simplified all test_odometry_###.launch files to a single one launch file with arguments
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1663 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
@@ -0,0 +1,240 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 78
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /TF1/Frames1
|
||||
Splitter Ratio: 0.411058
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Tree Height: 422
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- Class: rviz/Selection
|
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Name: Selection
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- Class: rviz/Tool Properties
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||||
Expanded:
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||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.588679
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- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: Image
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
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Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
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Enabled: true
|
||||
Line Style:
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||||
Line Width: 0.03
|
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: odom
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 2.02684
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Min Value: -1.12646
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Value: true
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Axis: Z
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Channel Name: rgb
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Class: rviz/PointCloud2
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Color: 255; 255; 255
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 2.34177e-38
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Min Color: 0; 0; 0
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Min Intensity: 9.21942e-41
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /voxel_cloud
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Class: rviz/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: false
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base_link:
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Value: true
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camera_depth_frame:
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Value: true
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camera_depth_optical_frame:
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Value: true
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camera_link:
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Value: true
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camera_rgb_frame:
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Value: true
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camera_rgb_optical_frame:
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Value: true
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odom:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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odom:
|
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base_link:
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camera_link:
|
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camera_depth_frame:
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camera_depth_optical_frame:
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{}
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camera_rgb_frame:
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camera_rgb_optical_frame:
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{}
|
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Update Interval: 0
|
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Value: true
|
||||
- Class: rviz/Image
|
||||
Enabled: true
|
||||
Image Topic: /camera/rgb/image_rect_color
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Max Value: 1
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Median window: 5
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Min Value: 0
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Name: Image
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Normalize Range: true
|
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Queue Size: 2
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Transport Hint: raw
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 0; 255; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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||||
Invert Rainbow: false
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||||
Max Color: 255; 255; 255
|
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
|
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Size (Pixels): 2
|
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Size (m): 0.01
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Style: Points
|
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Topic: /odom_local_map
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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||||
Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/PointCloud2
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Color: 255; 255; 255
|
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
|
||||
Invert Rainbow: false
|
||||
Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.01
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Style: Points
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Topic: /odom_last_frame
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: odom
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
|
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- Class: rviz/Select
|
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- Class: rviz/Measure
|
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- Class: rviz/SetInitialPose
|
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Topic: /initialpose
|
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- Class: rviz/SetGoal
|
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Topic: /move_base_simple/goal
|
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Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 7.06539
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.06
|
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Stereo Focal Distance: 1
|
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Swap Stereo Eyes: false
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Value: false
|
||||
Focal Point:
|
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X: 1.45837
|
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Y: 0.109967
|
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Z: -0.602093
|
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Name: Current View
|
||||
Near Clip Distance: 0.01
|
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Pitch: 0.839796
|
||||
Target Frame: base_link
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.58419
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
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collapsed: false
|
||||
Height: 824
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001530000031afc0200000007fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000000000000235000000dd00fffffffb0000000a0049006d006100670065010000023b000000df0000001600fffffffb0000000a0049006d00610067006501000001fd0000011d0000000000000000000000010000010f00000312fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000000000000312000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000003a00000031a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
|
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Selection:
|
||||
collapsed: false
|
||||
Time:
|
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collapsed: false
|
||||
Tool Properties:
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collapsed: false
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||||
Views:
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collapsed: false
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Width: 1273
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X: 229
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Y: 149
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@@ -1,5 +1,18 @@
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<launch>
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<!-- Arguments: "type", "nn" and "local_map" -->
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<!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF -->
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<arg name="type" default="0" />
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<!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH -->
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<!-- Should be 1 for float descriptor like SIFT/SURF -->
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<!-- Should be 2 for binary descriptor like ORB/FREAK/BRIEF -->
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<arg name="nn" default="1" />
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<!-- local map size: number of unique features to keep track -->
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<arg name="local_map" default="0" />
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||||
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<!-- TF FRAMES -->
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<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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@@ -41,9 +54,10 @@
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<param name="frame_id" type="string" value="base_link"/>
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<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
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<param name="Odom/Type" type="string" value="0"/> <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF -->
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<param name="Odom/NearestNeighbor" type="string" value="1"/> <!-- Should be 1 for float descriptor (1=FLANN_KDTREE) -->
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<param name="Odom/Type" type="string" value="$(arg type)"/>
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<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
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<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
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</node>
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<node pkg="rviz" type="rviz" name="rviz" output="screen"/>
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<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/test_odometry.rviz"/>
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</launch>
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@@ -1,49 +0,0 @@
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<launch>
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||||
|
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<!-- TF FRAMES -->
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||||
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
|
||||
|
||||
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
||||
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||||
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
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||||
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
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||||
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
|
||||
<remap from="odom_in" to="odom"/>
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||||
|
||||
<remap from="rgb/image_out" to="data_odom_sync/image"/>
|
||||
<remap from="depth/image_out" to="data_odom_sync/depth"/>
|
||||
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
|
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<remap from="odom_out" to="odom_sync"/>
|
||||
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<param name="queue_size" type="int" value="30"/>
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</node>
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<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
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<remap from="rgb/image" to="data_odom_sync/image"/>
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<remap from="depth/image" to="data_odom_sync/depth"/>
|
||||
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
|
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<remap from="cloud" to="voxel_cloud" />
|
||||
|
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<param name="queue_size" type="int" value="30"/>
|
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<param name="voxel_size" type="double" value="0.01"/>
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</node>
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|
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<!-- Odometry -->
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<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
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<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
|
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<remap from="depth/image" to="camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
|
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<remap from="odom" to="odom"/>
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|
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<param name="frame_id" type="string" value="base_link"/>
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|
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<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
|
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<param name="Odom/Type" type="string" value="4"/> <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF -->
|
||||
<param name="Odom/NearestNeighbor" type="string" value="2"/> <!-- Should be 2 for binary descriptor (2=FLANN_LSH) -->
|
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</node>
|
||||
|
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<node pkg="rviz" type="rviz" name="rviz" output="screen"/>
|
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</launch>
|
||||
@@ -1,49 +0,0 @@
|
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|
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<launch>
|
||||
|
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<!-- TF FRAMES -->
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
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||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
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||||
|
||||
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
||||
|
||||
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
|
||||
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
|
||||
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
|
||||
<remap from="odom_in" to="odom"/>
|
||||
|
||||
<remap from="rgb/image_out" to="data_odom_sync/image"/>
|
||||
<remap from="depth/image_out" to="data_odom_sync/depth"/>
|
||||
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
|
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<remap from="odom_out" to="odom_sync"/>
|
||||
|
||||
<param name="queue_size" type="int" value="30"/>
|
||||
</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"/>
|
||||
<remap from="depth/image" to="data_odom_sync/depth"/>
|
||||
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
|
||||
<remap from="cloud" to="voxel_cloud" />
|
||||
|
||||
<param name="queue_size" type="int" value="30"/>
|
||||
<param name="voxel_size" type="double" value="0.01"/>
|
||||
</node>
|
||||
|
||||
<!-- Odometry -->
|
||||
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
|
||||
<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image" to="camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
|
||||
<remap from="odom" to="odom"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_link"/>
|
||||
|
||||
<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
|
||||
<param name="Odom/Type" type="string" value="3"/> <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF -->
|
||||
<param name="Odom/NearestNeighbor" type="string" value="2"/> <!-- Should be 2 for binary descriptor (2=FLANN_LSH) -->
|
||||
</node>
|
||||
|
||||
<node pkg="rviz" type="rviz" name="rviz" output="screen"/>
|
||||
</launch>
|
||||
@@ -1,49 +0,0 @@
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- TF FRAMES -->
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
|
||||
|
||||
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
||||
|
||||
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
|
||||
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
|
||||
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
|
||||
<remap from="odom_in" to="odom"/>
|
||||
|
||||
<remap from="rgb/image_out" to="data_odom_sync/image"/>
|
||||
<remap from="depth/image_out" to="data_odom_sync/depth"/>
|
||||
<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"/>
|
||||
</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"/>
|
||||
<remap from="depth/image" to="data_odom_sync/depth"/>
|
||||
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
|
||||
<remap from="cloud" to="voxel_cloud" />
|
||||
|
||||
<param name="queue_size" type="int" value="30"/>
|
||||
<param name="voxel_size" type="double" value="0.01"/>
|
||||
</node>
|
||||
|
||||
<!-- Odometry -->
|
||||
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
|
||||
<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image" to="camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
|
||||
<remap from="odom" to="odom"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_link"/>
|
||||
|
||||
<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
|
||||
<param name="Odom/Type" type="string" value="2"/> <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF -->
|
||||
<param name="Odom/NearestNeighbor" type="string" value="2"/> <!-- Should be 2 for binary descriptor (2=FLANN_LSH) -->
|
||||
</node>
|
||||
|
||||
<node pkg="rviz" type="rviz" name="rviz" output="screen"/>
|
||||
</launch>
|
||||
@@ -1,49 +0,0 @@
|
||||
|
||||
<launch>
|
||||
|
||||
<!-- TF FRAMES -->
|
||||
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
|
||||
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
|
||||
|
||||
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
|
||||
|
||||
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
|
||||
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
|
||||
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
|
||||
<remap from="odom_in" to="odom"/>
|
||||
|
||||
<remap from="rgb/image_out" to="data_odom_sync/image"/>
|
||||
<remap from="depth/image_out" to="data_odom_sync/depth"/>
|
||||
<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"/>
|
||||
</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"/>
|
||||
<remap from="depth/image" to="data_odom_sync/depth"/>
|
||||
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
|
||||
<remap from="cloud" to="voxel_cloud" />
|
||||
|
||||
<param name="queue_size" type="int" value="10"/>
|
||||
<param name="voxel_size" type="double" value="0.01"/>
|
||||
</node>
|
||||
|
||||
<!-- Odometry -->
|
||||
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
|
||||
<remap from="rgb/image" to="camera/rgb/image_rect_color"/>
|
||||
<remap from="depth/image" to="camera/depth_registered/image_raw"/>
|
||||
<remap from="rgb/camera_info" to="camera/depth_registered/camera_info"/>
|
||||
<remap from="odom" to="odom"/>
|
||||
|
||||
<param name="frame_id" type="string" value="base_link"/>
|
||||
|
||||
<!-- RTAB-Map's parameters: do "rosrun rtabmap visual_odometry (double-dash)params" to see the list of available parameters. -->
|
||||
<param name="Odom/Type" type="string" value="1"/> <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF -->
|
||||
<param name="Odom/NearestNeighbor" type="string" value="1"/> <!-- Should be 1 for float descriptor (1=FLANN_KDTREE) -->
|
||||
</node>
|
||||
|
||||
<node pkg="rviz" type="rviz" name="rviz" output="screen"/>
|
||||
</launch>
|
||||
Reference in New Issue
Block a user