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Updated demo_two_kinects.launch for 0.11

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matlabbe
2016-03-11 23:28:23 -05:00
parent ea459567c6
commit 7debcc4371
1 changed files with 9 additions and 9 deletions
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launch/demo/demo_two_kinects.launch
+9 -9
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@@ -26,7 +26,7 @@
<arg name="rtabmapviz" default="true" /> <arg name="rtabmapviz" default="true" />
<!-- ODOMETRY MAIN ARGUMENTS: <!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow -"strategy" : Strategy: 0=Frame-to-Map 1=Frame-to-Frame
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK -"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE -"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF Set to 1 for float descriptor like SIFT/SURF
@@ -63,12 +63,12 @@
<param name="depth_cameras" type="int" value="2"/> <param name="depth_cameras" type="int" value="2"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/> <param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/> <param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/> <param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/> <param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/> <param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/> <param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/> <param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/> <param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/> <param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
</node> </node>
@@ -89,8 +89,8 @@
<remap from="depth1/image" to="/camera2/depth_registered/image_raw"/> <remap from="depth1/image" to="/camera2/depth_registered/image_raw"/>
<remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/> <remap from="rgb1/camera_info" to="/camera2/rgb/camera_info"/>
<param name="LccBow/MinInliers" type="string" value="10"/> <param name="Vis/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/> <param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
</node> </node>
<!-- Visualisation RTAB-Map --> <!-- Visualisation RTAB-Map -->