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multi_rgbd_inertial_dataset.launch: record intermediate poses

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matlabbe
2026-02-19 19:51:33 -08:00
parent 9d7fb44723
commit 95004363b4
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rtabmap_examples/launch/multi_rgbd_inertial_dataset.launch
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@@ -114,6 +114,7 @@
<param name="Grid/RayTracing" type="string" value="true"/> <param name="Grid/RayTracing" type="string" value="true"/>
<param name="Grid/NormalsSegmentation" type="string" value="false"/> <param name="Grid/NormalsSegmentation" type="string" value="false"/>
<param name="Grid/MaxGroundHeight" type="string" value="0.05"/> <param name="Grid/MaxGroundHeight" type="string" value="0.05"/>
<param name="Rtabmap/CreateIntermediateNodes" type="string" value="true"/> <!-- Only to record all odometry poses for trajectory evaluation purpose -->
<remap from="sensor_data" to="odom_sensor_data/raw"/> <remap from="sensor_data" to="odom_sensor_data/raw"/>
<remap if="$(arg use_imu)" from="imu" to="/imu"/> <remap if="$(arg use_imu)" from="imu" to="/imu"/>
</node> </node>