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updated demo_stereo_outdoor.launch

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matlabbe
2016-03-11 21:32:50 -05:00
parent 0ee20d596f
commit 43afe918e8
1 changed files with 6 additions and 18 deletions
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launch/demo/demo_stereo_outdoor.launch
+5 -17
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@@ -48,17 +48,13 @@
<param name="frame_id" type="string" value="base_footprint"/> <param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/> <param name="odom_frame_id" type="string" value="odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=BOW, 1=OpticalFlow --> <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) --> <param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Vis/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Vis/MaxDepth" type="string" value="10"/> <param name="Vis/MaxDepth" type="string" value="10"/>
<param name="Vis/NNDR" type="string" value="0.8"/>
<param name="Vis/MaxFeatures" type="string" value="1000"/>
<param name="Vis/CorGuessWinSize" type="string" value="31"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/> <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="GFTT/MinDistance" type="string" value="10"/> <param name="GFTT/MinDistance" type="string" value="10"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/> <param name="GFTT/QualityLevel" type="string" value="0.00001"/>
</node> </node>
<group ns="rtabmap"> <group ns="rtabmap">
@@ -79,20 +75,12 @@
<!-- RTAB-Map's parameters --> <!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/> <param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Kp/MaxFeatures" type="string" value="200"/> <param name="Kp/MaxFeatures" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/> <param name="Kp/MaxDepth" type="string" value="10"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF --> <param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="SURF/HessianThreshold" type="string" value="1000"/> <param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
<param name="RGBD/LoopClosureReextractFeatures" type="string" value="true"/> <param name="RGBD/LoopClosureReextractFeatures" type="string" value="true"/>
<param name="Vis/MaxFeatures" type="string" value="500"/>
<param name="Vis/MaxDepth" type="string" value="10"/> <param name="Vis/MaxDepth" type="string" value="10"/>
</node> </node>