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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/rgbd_mapping.launch
+6 -3
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@@ -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="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>
launch/stereo_mapping.launch
+3
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@@ -46,6 +46,7 @@
<arg name="inlier_distance" default="0.1" /> <!-- RANSAC maximum inliers distance (m) -->
<arg name="local_map" default="1000" /> <!-- Local map size: number of unique features to keep track -->
<arg name="odom_info_data" default="true" /> <!-- Fill odometry info messages with inliers/outliers data. -->
<arg name="variance_inliers" default="false"/> <!-- Variance from inverse of inliers count -->
<!-- Nodes -->
<group ns="$(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"/>