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StereoOdometryNode: now use default parameters Odom/MaxDepth=0 and Odom/EstimationType=1. Odometry ndoes exit directly when --params argument is detected.

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matlabbe
2015-10-01 11:37:40 -04:00
parent 24a40ceee8
commit 7d732aae7c
6 changed files with 54 additions and 51 deletions
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launch/rgbd_mapping.launch
+1
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@@ -88,6 +88,7 @@
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="LccBow/EstimationType" type="string" value="$(arg estimation)"/>
<!-- when 2D scan is set -->
<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>
launch/stereo_mapping.launch
+2 -1
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@@ -41,7 +41,7 @@
<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="1" /> <!-- 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="10.0" /> <!-- 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="local_map" default="1000" /> <!-- Local map size: number of unique features to keep track -->
@@ -97,6 +97,7 @@
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="LccBow/EstimationType" type="string" value="$(arg estimation)"/>
<!-- when 2D scan is set -->
<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>