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ros-pkg: updated/deleted some stereo related launch files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@2001 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-11-14 16:30:48 +00:00
parent 31ce543cff
commit 4bb9953160
7 changed files with 145 additions and 591 deletions
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launch/tests/test_stereo_mapping.launch
-132
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@@ -1,132 +0,0 @@
<launch>
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
<param name="format7_color_coding" value="raw16" />
<param name="bayer_pattern" value="bggr" />
<param name="bayer_method" value="" />
<param name="stereo_method" value="Interlaced" />
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Run the ROS package stereo_image_proc -->
<group ns="/stereo_camera" >
<!-- Throttle camera images to 10 Hz -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="rate" type="double" value="10"/>
</node>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/image_raw" to="right/image_raw_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
<remap from="left/camera_info" to="left/camera_info_throttle" />
<remap from="right/camera_info" to="right/camera_info_throttle" />
</node>
<!--
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info_throttle" />
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info_throttle" />
<remap from="odometry" to="stereo_odometer/odometry" />
</node>
-->
<!--
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
</node>
-->
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="queue_size" type="int" value="30"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="NN/NNStrategy" type="string" value="1"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="10"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<!-- Visualisation (client side) -->
<!--
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="depth/image" to="/odom_depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
-->
</group>
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
</launch>
launch/tests/test_stereo_mapping_bag.launch
-160
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@@ -1,160 +0,0 @@
<launch>
<!-- from bag: rosbag record /stereo_camera/left/image_rect/compressed /stereo_camera/right/image_rect/compressed /stereo_camera/left/camera_info /stereo_camera/right/camera_info /stereo_camera/depth/compressedDepth -->
<param name="use_sim_time" type="bool" value="True"/>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
<param name="image_transport" type="string" value="compressed"/>
</node>
<!--
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info" />
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info" />
<remap from="odometry" to="stereo_odometer/odometry" />
</node>
-->
<!--
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="odom_depth" to="/stereo_camera/depth2"/>
<param name="left/image_transport" type="string" value="compressed"/>
<param name="right/image_transport" type="string" value="compressed"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
</node>
-->
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" 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="/stereo_camera/left/image_rect"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="queue_size" type="int" value="30"/>
<param name="RGBD/ToroIterations" type="string" value="0"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="NN/NNStrategy" type="string" value="1"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="10"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<!-- Visualisation (client side) -->
<!--
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/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"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
-->
<node pkg="rtabmap" type="map_optimizer" name="map_optimizer" output="screen"/>
<node pkg="rtabmap" type="map_assembler" name="map_assembler" output="screen">
<remap from="mapData" to="mapData_optimized"/>
<param name="occupancy_grid" type="bool" value="true"/>
</node>
</group>
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/stereo_camera/left/image_rect"/>
<remap from="depth/image_in" to="/stereo_camera/depth"/>
<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
<remap from="odom_in" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<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="decimation" type="int" value="2"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyz" args="load rtabmap/point_cloud_xyz standalone_nodelet">
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="depth/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="cloudXYZ" />
<param name="queue_size" type="int" value="10"/>
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
<param name="voxel_size" type="double" value="0.05"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap/obstacles_detection standalone_nodelet">
<remap from="cloud" to="cloudXYZ"/>
</node>
</launch>
launch/tests/test_stereo_odometry.launch
+8 -9
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@@ -26,21 +26,20 @@
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<remap from="odom" to="odom_stereo"/>
<remap from="odom_local_map" to="/odom_local_map"/>
<remap from="odom_last_frame" to="/odom_last_frame"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="queue_size" type="int" value="5"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="OdomFlow/SubPixIterations" type="string" value="0"/>
</node>
<param name="Odom/InlierDistance" type="string" value="0.1"/>
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="GFTT/MaxCorners" type="string" value="500"/>
<param name="GFTT/MinDistance" type="string" value="5"/>
</node>
</group>