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Updated demo_stereo_outdoor.launch (#209)

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matlabbe
2017-11-30 15:24:47 -05:00
parent b01e79febf
commit 46a9e91884
1 changed files with 11 additions and 9 deletions
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launch/demo/demo_stereo_outdoor.launch
+11 -9
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@@ -17,6 +17,7 @@
<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="local_bundle" default="false" />
<param name="use_sim_time" type="bool" value="True"/>
@@ -51,9 +52,11 @@
<param name="odom_frame_id" type="string" value="odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
<param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
<param name="Vis/MaxDepth" type="string" value="10"/>
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
<param name="Vis/MaxDepth" type="string" value="0"/>
<param name="Odom/GuessMotion" type="string" value="true"/>
<param name="Vis/MinInliers" type="string" value="10"/>
<param if="$(arg local_bundle)" name="OdomF2M/BundleAdjustment" type="string" value="1"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="OdomF2M/MaxSize" type="string" value="1000"/>
<param name="GFTT/MinDistance" type="string" value="10"/>
@@ -74,18 +77,17 @@
<remap from="odom" to="/stereo_odometry"/>
<param name="queue_size" type="int" value="30"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Grid/DepthDecimation" type="string" value="4"/>
<param name="Grid/FlatObstacleDetected" type="string" value="true"/>
<param name="Kp/MaxFeatures" type="string" value="200"/>
<param name="Kp/MaxDepth" type="string" value="10"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<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="RGBD/LoopClosureReextractFeatures" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="10"/>
<param name="Kp/MaxDepth" type="string" value="0"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Vis/MaxDepth" type="string" value="0"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="true"/>
</node>
<!-- Visualisation RTAB-Map -->