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rgbd_sync: added decimation option. #393

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matlabbe
2020-04-18 14:26:04 -04:00
parent 34d5e27053
commit 9aa3854f8b
2 changed files with 77 additions and 27 deletions
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launch/rtabmap.launch
+5 -2
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@@ -72,7 +72,9 @@
<arg name="approx_rgbd_sync" default="true"/> <!-- false=exact synchronization -->
<arg name="subscribe_rgbd" default="$(arg rgbd_sync)"/>
<arg name="rgbd_topic" default="rgbd_image" />
<arg name="depth_scale" default="1.0" />
<arg name="depth_scale" default="1.0" /> <!-- Deprecated, use rgbd_depth_scale instead -->
<arg name="rgbd_depth_scale" default="$(arg depth_scale)" />
<arg name="rgbd_decimation" default="1" />
<arg name="compressed" default="false"/> <!-- If you want to subscribe to compressed image topics -->
<arg name="rgb_image_transport" default="compressed"/> <!-- Common types: compressed, theora (see "rosrun image_transport list_transports") -->
@@ -141,7 +143,8 @@
<remap from="rgbd_image" to="$(arg rgbd_topic_relay)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
<param name="depth_scale" type="double" value="$(arg depth_scale)"/>
<param name="depth_scale" type="double" value="$(arg rgbd_depth_scale)"/>
<param name="decimation" type="double" value="$(arg rgbd_decimation)"/>
</node>
</group>
</group>