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rgbd_mapping.launch and stereo_mapping.launch, added "variance_inliers" argument

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matlabbe
2015-10-02 10:51:44 -04:00
parent 202939640f
commit 53fe090121
2 changed files with 9 additions and 3 deletions
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launch/stereo_mapping.launch
+3
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@@ -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"/>