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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/stereo_mapping.launch
+6 -1
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@@ -25,6 +25,7 @@
<arg name="left_camera_info_topic" default="$(arg stereo_namespace)/left/camera_info" />
<arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
<arg name="approximate_sync" default="false"/> <!-- if timestamps of the stereo images are not synchronized -->
<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"/>
@@ -38,7 +39,7 @@
<!-- 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="Odom/EstimationType" default="1" /> <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->
<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="10.0" /> <!-- Maximum features depth (m) -->
<arg name="min_inliers" default="20" /> <!-- Minimum visual correspondences to accept a transformation (m) -->
@@ -49,6 +50,9 @@
<!-- Nodes -->
<group ns="$(arg namespace)">
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic)" />
<!-- Odometry -->
<node if="$(arg visual_odometry)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
@@ -63,6 +67,7 @@
<param name="Odom/Strategy" type="string" value="$(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)"/>