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Cleanup rgbdslam_datasets.launch

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matlabbe
2018-07-12 11:25:10 -04:00
parent 7e155a5abb
commit 4433624d68
1 changed files with 1 additions and 10 deletions
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launch/tests/rgbdslam_datasets.launch
+1 -10
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@@ -5,7 +5,7 @@
$ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag $ wget http://vision.in.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.bag
$ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag $ rosbag decompress rgbd_dataset_freiburg3_long_office_household.bag
$ roslaunch rtabmap_ros rgbdslam_datasets.launch feature=6 $ roslaunch rtabmap_ros rgbdslam_datasets.launch
$ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag $ rosbag play -.-clock rgbd_dataset_freiburg3_long_office_household.bag
--> -->
@@ -30,13 +30,8 @@
<remap from="odom" to="vis_odom"/> <remap from="odom" to="vis_odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame --> <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
<param name="Vis/CorType" type="string" value="0"/> <!-- 0=features matching 1=Optical Flow -->
<param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/> <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="Vis/MaxDepth" type="string" value="4"/>
<param name="Vis/CorNNDR" type="string" value="0.6"/>
<param name="Odom/ResetCountdown" type="string" value="15"/> <param name="Odom/ResetCountdown" type="string" value="15"/>
<param name="Odom/KeyFrameThr" type="string" value="0.5"/>
<param name="odom_frame_id" type="string" value="vis_odom"/> <param name="odom_frame_id" type="string" value="vis_odom"/>
<param name="frame_id" type="string" value="kinect"/> <param name="frame_id" type="string" value="kinect"/>
@@ -57,10 +52,6 @@
<param name="subscribe_laserScan" type="bool" value="false"/> <param name="subscribe_laserScan" type="bool" value="false"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/> <param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="Vis/EstimationType" type="string" value="0"/>
<param name="Vis/MaxDepth" type="string" value="4"/>
<param name="RGBD/LoopClosureReextractFeatures" type="string" value="false"/>
<param name="Mem/RawDescriptorsKept" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="false"/> <param name="RGBD/CreateOccupancyGrid" type="string" value="false"/>
<param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/> <param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/>