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Updated rgbd_mapping.launch and stereo_mapping.launch with "compressed" argument for convenience

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matlabbe
2015-09-30 18:59:22 -04:00
parent d90c92c764
commit 9b08ac592c
2 changed files with 12 additions and 1 deletions
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launch/rgbd_mapping.launch
+6
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@@ -23,6 +23,7 @@
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<arg name="compressed" default="false"/>
<arg name="subscribe_scan" default="false"/> <!-- Assuming 2D scan if set, rtabmap will do 3DoF mapping instead of 6DoF -->
<arg name="scan_topic" default="/scan"/>
@@ -36,6 +37,7 @@
<!-- Odometry parameters: -->
<arg name="strategy" default="0" /> <!-- Strategy: 0=BOW (bag-of-words) 1=Optical Flow -->
<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="0" /> <!-- 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="4.0" /> <!-- Maximum features depth (m) -->
<arg name="min_inliers" default="20" /> <!-- Minimum visual correspondences to accept a transformation (m) -->
@@ -45,6 +47,9 @@
<!-- Nodes -->
<group ns="$(arg namespace)">
<node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="compressed in:=$(arg rgb_topic) raw out:=$(arg rgb_topic)" />
<node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="compressedDepth in:=$(arg depth_registered_topic) raw out:=$(arg depth_registered_topic)" />
<!-- Odometry -->
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen" launch-prefix="$(arg launch_prefix)">
<remap from="rgb/image" to="$(arg rgb_topic)"/>
@@ -57,6 +62,7 @@
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="Odom/EstimationType" type="string" value="$(arg estimation)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>