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usyd_dataset: updated visual parameters

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matlabbe
2023-04-30 14:36:38 -07:00
parent 0bd2190f77
commit 65a8faf78e
1 changed files with 18 additions and 2 deletions
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rtabmap_examples/launch/usyd_dataset.launch
+18 -2
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@@ -2,6 +2,10 @@
<launch>
<!--
Requires RTAB-Map with OpenCV's xfeatures2d and nonfree modules.
See docker usage if you want RTAB-Map already built with them:
https://github.com/introlab/rtabmap_ros/tree/master/docker
Dataset: https://its.acfr.usyd.edu.au/datasets-2/usyd-campus-dataset/
Tools to play dataset's rosbags: https://gitlab.acfr.usyd.edu.au/its/dataset_metapackage
@@ -18,10 +22,12 @@
<arg name="local_map_size" default="10000"/>
<arg name="key_frame_thr" default="0.5"/>
<arg name="database_path" default="~/.ros/rtabmap.db"/>
<arg name="append" default="false"/> <!-- true: don't delete previous db, create new session -->
<arg if="$(arg append)" name="rtabmap_args" value=""/>
<arg unless="$(arg append)" name="rtabmap_args" value="-d"/> <!-- delete previous db -->
<arg if="$(arg append)" name="rtabmap_args" default=""/>
<arg unless="$(arg append)" name="rtabmap_args" default="-d"/> <!-- delete previous db -->
<!-- Regenerate lidar point clouds with timestamps -->
<node pkg="nodelet" type="nodelet" name="velodyne_transform" args="standalone velodyne_pointcloud/TransformNodelet" ns="velodyne/front">
@@ -111,6 +117,7 @@
<!-- SLAM -->
<node pkg="rtabmap_slam" type="rtabmap" name="rtabmap" output="screen" args="$(arg rtabmap_args)">
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value=""/>
<param name="odom_sensor_sync" type="bool" value="true"/>
@@ -147,6 +154,8 @@
<param name="RGBD/LocalRadius" type="string" value="30"/>
<param name="Mem/NotLinkedNodesKept" type="string" value="false"/>
<param name="Mem/STMSize" type="string" value="30"/>
<param name="Mem/ImagePreDecimation" type="string" value="2"/> <!-- Scale down image 2x -->
<param name="Mem/ImagePostDecimtation" type="string" value="2"/>
<param name="Reg/Strategy" type="string" value="1"/>
<param name="Optimizer/GravitySigma" type="string" value="3"/>
@@ -159,6 +168,13 @@
<param name="Grid/ClusterRadius" type="string" value="1"/>
<param name="Grid/GroundIsObstacle" type="string" value="false"/>
<!-- Use SURF features to make it easier to find loop closures between datasets -->
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="Kp/MaxFeatures" type="string" value="400"/> <!-- For bag-of-words -->
<param name="Vis/MaxFeatures" type="string" value="600"/> <!-- For visual transform estimation -->
<param name="Mem/DepthAsMask" type="string" value="false"/> <!-- use whole images for keypoints -->
<param name="Mem/StereoFromMotion" type="string" value="true"/> <!-- will estimate 3D position of keypoints outside depth image based on odometry -->
<!-- ICP parameters -->
<param name="Icp/VoxelSize" type="string" value="$(arg resolution)"/>
<param name="Icp/PointToPlane" type="string" value="false"/>