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https://github.com/introlab/rtabmap_ros.git
synced 2026-10-03 16:27:46 +08:00
updated rgbd_mapping.launch with more parameters
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matlabbe
+42
-36
@@ -1,45 +1,38 @@
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<launch>
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<!-- RGB-D MAPPING VERSION -->
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<!-- WARNING : Database is automatically deleted on each startup -->
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<!-- See "delete_db_on_start" option below... -->
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<!-- Your RGB-D sensor should be already started with "depth_registration:=true".
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Examples:
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$ roslaunch freenect_launch freenect.launch depth_registration:=true
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$ roslaunch openni2_launch openni2.launch depth_registration:=true -->
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<!-- Choose visualization -->
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<arg name="rviz" default="false" />
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<arg name="rtabmapviz" default="true" />
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<arg name="rviz" default="false" />
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<arg name="rtabmapviz" default="true" />
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<!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
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<arg name="frame_id" default="camera_link"/>
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<arg name="frame_id" default="camera_link"/> <!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
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<arg name="time_threshold" default="0"/> <!-- (ms) If not 0 ms, memory management is used to keep processing time on this fixed limit. -->
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<arg name="optimize_from_last_node" default="false"/> <!-- Optimize the map from the last node. Should be true on multi-session mapping and when time threshold is set -->
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<!-- Image topics input -->
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<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
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<arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
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<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
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<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
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<arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
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<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
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<arg name="namespace" default="rtabmap"/>
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<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
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<arg name="scan_topic" default="/scan"/>
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<!-- ODOMETRY MAIN ARGUMENTS:
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-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
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-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
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-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
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Set to 1 for float descriptor like SIFT/SURF
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Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
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-"max_depth" : Maximum features depth (m)
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-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
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-"inlier_distance" : RANSAC maximum inliers distance (m)
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-"local_map" : Local map size: number of unique features to keep track
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-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
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-->
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<arg name="strategy" default="0" />
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<arg name="feature" default="6" />
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<arg name="nn" default="3" />
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<arg name="max_depth" default="4.0" />
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<arg name="min_inliers" default="20" />
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<arg name="inlier_distance" default="0.02" />
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<arg name="local_map" default="1000" />
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<arg name="odom_info_data" default="true" />
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<arg name="namespace" default="rtabmap"/>
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<!-- Odometry parameters: -->
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<arg name="strategy" default="0" /> <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
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<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 -->
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<arg name="nn" default="3" /> <!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE (SIFT, SURF), 2=FLANN_LSH, 3=BRUTEFORCE (ORB/FREAK/BRIEF/BRISK) -->
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<arg name="max_depth" default="4.0" /> <!-- Maximum features depth (m) -->
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<arg name="min_inliers" default="20" /> <!-- Minimum visual correspondences to accept a transformation (m) -->
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<arg name="inlier_distance" default="0.02" /> <!-- RANSAC maximum inliers distance (m) -->
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<arg name="local_map" default="1000" /> <!-- Local map size: number of unique features to keep track -->
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<arg name="odom_info_data" default="true" /> <!-- Fill odometry info messages with inliers/outliers data. -->
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<!-- Nodes -->
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<group ns="$(arg namespace)">
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<!-- Odometry -->
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@@ -63,25 +56,37 @@
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<!-- args: "delete_db_on_start" and "udebug" -->
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<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_registered_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<param name="Rtabmap/TimeThr" type="string" value="$(arg time_threshold)"/>
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<param name="RGBD/OptimizeFromGraphEnd" type="string" value="$(arg optimize_from_last_node)"/>
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<param name="LccBow/MinInliers" type="string" value="10"/>
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<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
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<!-- when 2D scan is set -->
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<param if="$(arg subscribe_scan)" name="RGBD/OptimizeSlam2D" type="string" value="true"/>
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<param if="$(arg subscribe_scan)" name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>
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<param if="$(arg subscribe_scan)" name="LccIcp/Type" type="string" value="2"/>
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<param if="$(arg subscribe_scan)" name="LccIcp2/CorrespondenceRatio" type="string" value="0.25"/>
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</node>
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<!-- Visualisation RTAB-Map -->
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<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
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<param name="subscribe_depth" type="bool" value="true"/>
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<param name="subscribe_scan" type="bool" value="$(arg subscribe_scan)"/>
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<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
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<param name="frame_id" type="string" value="$(arg frame_id)"/>
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<remap from="rgb/image" to="$(arg rgb_topic)"/>
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<remap from="depth/image" to="$(arg depth_registered_topic)"/>
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<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
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<remap from="scan" to="$(arg scan_topic)"/>
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</node>
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</group>
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@@ -107,7 +112,8 @@
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<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
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<remap from="cloud" to="voxel_cloud" />
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<param name="voxel_size" type="double" value="0.01"/>
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<param name="decimation" type="double" value="2"/>
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<param name="voxel_size" type="double" value="0.02"/>
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</node>
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</launch>
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