From 53fe09012143c46b1f97bdf7b8683661526f6f61 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Fri, 2 Oct 2015 10:51:44 -0400
Subject: [PATCH] rgbd_mapping.launch and stereo_mapping.launch, added
 "variance_inliers" argument

---
 launch/rgbd_mapping.launch   | 9 ++++++---
 launch/stereo_mapping.launch | 3 +++
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/launch/rgbd_mapping.launch b/launch/rgbd_mapping.launch
index ad0c5e51..43ea8e67 100644
--- a/launch/rgbd_mapping.launch
+++ b/launch/rgbd_mapping.launch
@@ -39,10 +39,11 @@
   <arg name="feature"             default="6" />       <!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -->
   <arg name="estimation"          default="0" />       <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
   <arg name="nn"                  default="3" />       <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
-  <arg name="max_depth"           default="0" />     <!-- Maximum features depth (m) -->
+  <arg name="max_depth"           default="0" />       <!-- Maximum features depth (m) -->
   <arg name="min_inliers"         default="20" />      <!-- Minimum visual correspondences to accept a transformation (m) -->
-  <arg name="inlier_distance"     default="0.1" />    <!-- RANSAC maximum inliers distance (m) -->
+  <arg name="inlier_distance"     default="0.1" />     <!-- RANSAC maximum inliers distance (m) -->
   <arg name="local_map"           default="1000" />    <!-- Local map size: number of unique features to keep track -->
+  <arg name="variance_inliers"    default="false"/>    <!-- Variance from inverse of inliers count -->  
         
   <!-- Nodes -->
   <group ns="$(arg namespace)">
@@ -67,7 +68,8 @@
 	  <param name="Odom/MinInliers"          type="string" value="$(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="Odom/FillInfoData"        type="string" value="true"/>   
+      <param name="Odom/FillInfoData"        type="string" value="true"/> 
+      <param name="Odom/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>  
     </node>
   
     <!-- Visual SLAM (robot side) -->
@@ -89,6 +91,7 @@
       <param name="LccBow/MinInliers"         type="string" value="10"/>
       <param name="LccBow/InlierDistance"     type="string" value="$(arg inlier_distance)"/>
       <param name="LccBow/EstimationType"     type="string" value="$(arg estimation)"/> 
+      <param name="LccBow/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
       
       <!-- when 2D scan is set -->
       <param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D"          type="string" value="true"/>
diff --git a/launch/stereo_mapping.launch b/launch/stereo_mapping.launch
index 4913e319..c89db0ec 100644
--- a/launch/stereo_mapping.launch
+++ b/launch/stereo_mapping.launch
@@ -46,6 +46,7 @@
   <arg name="inlier_distance"     default="0.1" />     <!-- RANSAC maximum inliers distance (m) -->
   <arg name="local_map"           default="1000" />    <!-- Local map size: number of unique features to keep track -->
   <arg name="odom_info_data"      default="true" />    <!-- Fill odometry info messages with inliers/outliers data. -->
+  <arg name="variance_inliers"    default="false"/>    <!-- Variance from inverse of inliers count -->  
         
   <!-- Nodes -->
   <group ns="$(arg namespace)">
@@ -73,6 +74,7 @@
       <param name="Odom/InlierDistance"      type="string" value="$(arg inlier_distance)"/>       
       <param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/> 
       <param name="Odom/FillInfoData"        type="string" value="true"/>   
+      <param name="Odom/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
     </node>
   
     <!-- Visual SLAM (robot side) -->
@@ -98,6 +100,7 @@
       <param name="LccBow/MinInliers"         type="string" value="10"/>
       <param name="LccBow/InlierDistance"     type="string" value="$(arg inlier_distance)"/>
       <param name="LccBow/EstimationType"     type="string" value="$(arg estimation)"/> 
+      <param name="LccBow/VarianceFromInliersCount" type="string" value="$(arg variance_inliers)"/>
       
       <!-- when 2D scan is set -->
       <param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D"          type="string" value="true"/>