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Updated OdomInfo msg to include inliers/outliers data, updated default launch files

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Mathieu Labbe
2015-01-23 15:18:06 -05:00
parent 92c30adad8
commit 4ae2cedc00
11 changed files with 251 additions and 59 deletions
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launch/config/rgbd_gui.ini
+53 -5
View File
@@ -13,8 +13,8 @@ General\beep=false
General\keypointsOpacity=16
General\voxelSize=0
General\decimation=16
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MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\x64\0\0\0\xa1\0\0\x6s\0\0\x3\x94\0\0\x1l\0\0\0\xbd\0\0\x6k\0\0\x3\x8c\0\0\0\0\0\0)
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MainWindow\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1V\0\0\0\xa1\0\0\x6\x65\0\0\x3\x94\0\0\x1^\0\0\0\xbd\0\0\x6]\0\0\x3\x8c\0\0\0\0\0\0)
General\showClouds0=true
General\voxelSize0=0
General\decimation0=4
@@ -39,9 +39,9 @@ General\decimation2=1
General\maxDepth2=4
General\showScans2=true
General\meshing0=false
General\cloudFiltering=false
General\cloudFilteringRadius=0.5
General\cloudFilteringAngle=30
General\cloudFiltering=true
General\cloudFilteringRadius=0.2
General\cloudFilteringAngle=20
General\meshNormalKSearch0=20
General\meshGP3Radius0=0.04
General\meshSmoothing0=false
@@ -62,3 +62,51 @@ General\gridMapFillEmptySpace=true
General\gridMapOccupancyFrom3DCloud=false
General\gridMapFillEmptyRadius=0
General\gridMapOpacity=0.75
General\posteriorGraphView=true
General\showGraphs=true
PreferencesDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\x1\xde\0\0\0n\0\0\x5\xe8\0\0\x3\x82\0\0\x1\xde\0\0\0n\0\0\x5\xe8\0\0\x3\x82\0\0\0\0\0\0)
AboutDialog\geometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\0\0\0\0\0\0\0\x18\0\0\x2_\0\0\x1\xf2\0\0\0\0\0\0\0\x18\0\0\x2_\0\0\x1\xf2\0\0\0\0\0\0)
widget_cloudViewer\camera_pose=@Variant(\0\0\0T\xbf\xf0\0\x13\0\0\0\0\xbe\xb6\0\0\0\0\0\0>\xa4\0\0\0\0\0\0)
widget_cloudViewer\camera_focal=@Variant(\0\0\0T>\xa4\0\0\0\0\0\0\xbe\xa1\0\0\0\0\0\0>t\0\0\0\0\0\0)
widget_cloudViewer\camera_up=@Variant(\0\0\0T\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0?\xf0\0\0\0\0\0\0)
widget_cloudViewer\grid=false
widget_cloudViewer\grid_cell_count=50
widget_cloudViewer\grid_cell_size=@Variant(\0\0\0\x87?\x80\0\0)
widget_cloudViewer\trajectory_shown=true
widget_cloudViewer\trajectory_size=100
widget_cloudViewer\camera_target_locked=false
widget_cloudViewer\camera_target_follow=true
widget_cloudViewer\camera_free=false
widget_cloudViewer\camera_lockZ=true
widget_cloudViewer\bg_color=@Variant(\0\0\0\x43\x1\xff\xff\0\0\0\0\0\0\0\0)
imageView_source\image_shown=true
imageView_source\depth_shown=false
imageView_source\features_shown=true
imageView_source\lines_shown=true
imageView_loopClosure\image_shown=true
imageView_loopClosure\depth_shown=false
imageView_loopClosure\features_shown=true
imageView_loopClosure\lines_shown=true
imageView_odometry\image_shown=true
imageView_odometry\depth_shown=false
imageView_odometry\features_shown=true
imageView_odometry\lines_shown=true
ExportCloudsDialog\assemble=true
ExportCloudsDialog\assemble_voxel=0.005
ExportCloudsDialog\regenerate=true
ExportCloudsDialog\regenerate_decimation=1
ExportCloudsDialog\regenerate_voxel=0.005
ExportCloudsDialog\regenerate_max_depth=4
ExportCloudsDialog\binary=true
ExportCloudsDialog\mls=false
ExportCloudsDialog\mls_radius=0.04
ExportCloudsDialog\mesh=false
ExportCloudsDialog\mesh_k=20
ExportCloudsDialog\mesh_radius=0.04
PostProcessingDialog\detect_more_lc=true
PostProcessingDialog\cluster_radius=0.3
PostProcessingDialog\cluster_angle=30
PostProcessingDialog\iterations=1
PostProcessingDialog\reextract_features=false
PostProcessingDialog\refine_neigbors=false
PostProcessingDialog\refine_lc=false
launch/rgbd_localization.launch
+5 -11
View File
@@ -13,6 +13,7 @@
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
@@ -21,6 +22,7 @@
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="odom_info_data" default="true" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
@@ -33,8 +35,6 @@
<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"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
@@ -42,7 +42,8 @@
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
</node>
<!-- Visual SLAM (robot side) -->
@@ -54,29 +55,22 @@
<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="queue_size" type="int" value="30"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="LccBow/MinInliers" type="string" value="10"/> <!-- Minimum inliers to accept a loop closure -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
<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"/>
</node>
</group>
launch/rgbd_localization_rviz.launch
+1 -12
View File
@@ -33,8 +33,6 @@
<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"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
@@ -49,22 +47,16 @@
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<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="queue_size" type="int" value="30"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="LccBow/MinInliers" type="string" value="10"/> <!-- Minimum inliers to accept a loop closure -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
</node>
</group>
@@ -83,16 +75,13 @@
<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_ros/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>
launch/rgbd_mapping.launch
+6 -12
View File
@@ -15,6 +15,7 @@
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
@@ -23,6 +24,7 @@
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="odom_info_data" default="true" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
@@ -42,39 +44,31 @@
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<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="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="queue_size" type="int" value="30"/>
</node>
<!-- Visualisation (client side) -->
<node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
<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"/>
</node>
</group>
launch/rgbd_mapping_rviz.launch
+1 -11
View File
@@ -44,26 +44,19 @@
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="frame_id" type="string" value="base_link"/>
</node>
<!-- Visual SLAM -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<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="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="queue_size" type="int" value="30"/>
</node>
</group>
@@ -82,16 +75,13 @@
<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_ros/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>