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rtabmap.launch: added use_odom_features option (default false). rtabmap: fixed 3d points not transformed correctly in base frame if provided rgbd_image topic is stereo

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matlabbe
2020-12-23 15:55:18 -05:00
parent 43dbd8ad13
commit 7bae01ff39
2 changed files with 13 additions and 8 deletions
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launch/rtabmap.launch
+12 -7
View File
@@ -105,6 +105,7 @@
<arg name="odom_expected_rate" default="0"/>
<arg name="imu_topic" default="/imu/data"/> <!-- only used with VIO approaches -->
<arg name="wait_imu_to_init" default="false"/>
<arg name="use_odom_features" default="false"/>
<arg name="scan_cloud_assembling" default="false"/>
<arg name="scan_cloud_assembling_time" default="1"/>
@@ -167,7 +168,7 @@
<group if="$(arg rgbd_sync)">
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
<node pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
@@ -219,6 +220,7 @@
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
<param name="keep_color" type="bool" value="$(arg use_odom_features)"/>
</node>
<!-- Stereo Odometry -->
@@ -247,6 +249,7 @@
<param name="guess_min_rotation" type="double" value="$(arg odom_guess_min_rotation)"/>
<param name="expected_update_rate" type="double" value="$(arg odom_expected_rate)"/>
<param name="max_update_rate" type="double" value="$(arg odom_max_rate)"/>
<param name="keep_color" type="bool" value="$(arg use_odom_features)"/>
</node>
</group>
</group>
@@ -293,7 +296,7 @@
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgb" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="subscribe_rgbd" type="bool" value="$(eval subscribe_rgbd or use_odom_features)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
@@ -312,7 +315,7 @@
<param name="odom_sensor_sync" type="bool" value="$(arg odom_sensor_sync)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="database_path" type="string" value="$(arg database_path)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync" type="bool" value="$(eval approx_sync and not use_odom_features)"/>
<param name="config_path" type="string" value="$(arg cfg)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="scan_cloud_max_points" type="int" value="$(arg scan_cloud_max_points)"/>
@@ -323,7 +326,8 @@
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap if="$(arg use_odom_features)" from="rgbd_image" to="odom_rgbd_image"/>
<remap unless="$(arg use_odom_features)" from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
@@ -352,7 +356,7 @@
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
<param if="$(arg stereo)" name="subscribe_depth" type="bool" value="false"/>
<param unless="$(arg stereo)" name="subscribe_depth" type="bool" value="$(arg depth)"/>
<param name="subscribe_rgbd" type="bool" value="$(arg subscribe_rgbd)"/>
<param name="subscribe_rgbd" type="bool" value="$(eval subscribe_rgbd or use_odom_features)"/>
<param name="subscribe_stereo" type="bool" value="$(arg stereo)"/>
<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
<param name="subscribe_scan_cloud" type="bool" value="$(arg subscribe_scan_cloud)"/>
@@ -363,13 +367,14 @@
<param name="odom_frame_id" type="string" value="$(arg odom_frame_id)"/>
<param name="wait_for_transform_duration" type="double" value="$(arg wait_for_transform)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="approx_sync" type="bool" value="$(arg approx_sync)"/>
<param name="approx_sync" type="bool" value="$(eval approx_sync and not use_odom_features)"/>
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap if="$(arg use_odom_features)" from="rgbd_image" to="odom_rgbd_image"/>
<remap unless="$(arg use_odom_features)" from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<remap from="left/image_rect" to="$(arg left_image_topic_relay)"/>
<remap from="right/image_rect" to="$(arg right_image_topic_relay)"/>
src/CoreWrapper.cpp
+1 -1
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@@ -1566,7 +1566,7 @@ void CoreWrapper::commonStereoCallback(
if(!localPoints3dMsg.empty())
{
// Points should be in base frame
points = rtabmap_ros::points3fFromROS(localPoints3dMsg, stereoModel.localTransform().inverse());
points = rtabmap_ros::points3fFromROS(localPoints3dMsg, stereoModel.localTransform());
}
if(!keypoints.empty())
{