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moved stereo stuff from rgbd_sync to stereo_sync

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matlabbe
2018-05-02 12:29:45 -04:00
parent 30eabe93f1
commit a39ffe382c
11 changed files with 277 additions and 86 deletions
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launch/demo/demo_stereo_outdoor.launch
+18 -6
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@@ -18,6 +18,7 @@
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="local_bundle" default="true" />
<arg name="stereo_sync" default="false" />
<param name="use_sim_time" type="bool" value="True"/>
@@ -27,8 +28,6 @@
<!-- Run the ROS package stereo_image_proc for image rectification -->
<group ns="/stereo_camera" >
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<remap from="left/image_raw" to="left/image_raw_throttle_relay"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
@@ -36,6 +35,13 @@
<remap from="right/camera_info" to="right/camera_info_throttle"/>
<param name="disparity_range" value="128"/>
</node>
<node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
<remap from="left/image_rect" to="left/image_rect_color"/>
<remap from="right/image_rect" to="right/image_rect"/>
<remap from="left/camera_info" to="left/camera_info_throttle"/>
<remap from="right/camera_info" to="right/camera_info_throttle"/>
</node>
</group>
<group ns="rtabmap">
@@ -46,10 +52,12 @@
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
<remap from="odom" to="/stereo_odometry"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="frame_id" type="string" value="base_footprint"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
@@ -66,13 +74,15 @@
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
<remap from="odom" to="/stereo_odometry"/>
@@ -92,8 +102,9 @@
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_stereo" type="bool" value="true"/>
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="queue_size" type="int" value="10"/>
<param name="frame_id" type="string" value="base_footprint"/>
@@ -101,6 +112,7 @@
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="rgbd_image" to="/stereo_camera/rgbd_image"/>
<remap from="odom_info" to="odom_info"/>
<remap from="odom" to="/stereo_odometry"/>
<remap from="mapData" to="mapData"/>
launch/demo/demo_two_kinects.launch
-2
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@@ -53,7 +53,6 @@
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="depth/camera_info" to="depth_registered/camera_info"/>
</node>
</group>
<group ns="camera2">
@@ -61,7 +60,6 @@
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="depth/camera_info" to="depth_registered/camera_info"/>
</node>
</group>
launch/rgbd_mapping_kinect2.launch
+11 -37
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@@ -29,27 +29,9 @@
<arg name="rtabmapviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" />
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: Frame-to-Map 1=Frame-To-Frame
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="10.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<arg name="gftt_max_corners" default="1000" />
<arg name="gftt_min_distance" default="7" />
<!-- slightly increase default parameters for larger images (qhd=720p) -->
<arg name="gftt_block_size" default="5" />
<arg name="gftt_min_distance" default="5" />
<group ns="rtabmap">
@@ -60,17 +42,9 @@
<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="Vis/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
<param name="GFTT/BlockSize" type="string" value="$(arg gftt_block_size)"/>
<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
</node>
@@ -84,17 +58,17 @@
<remap from="depth/image" to="/kinect2/$(arg resolution)/image_depth_rect"/>
<remap from="rgb/camera_info" to="/kinect2/$(arg resolution)/camera_info"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="GFTT/BlockSize" type="string" value="$(arg gftt_block_size)"/>
<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="$(arg rtabmapviz_cfg)" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="/kinect2/$(arg resolution)/image_color_rect"/>
@@ -115,7 +89,7 @@
<remap from="odom_in" to="rtabmap/odom"/>
<param name="approx_sync" type="bool" value="true"/>
<param name="approx_sync" type="bool" value="false"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
launch/rtabmap.launch
+5 -6
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@@ -119,7 +119,6 @@
<remap from="rgb/image" to="$(arg rgb_topic_relay)"/>
<remap from="depth/image" to="$(arg depth_topic_relay)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="depth/camera_info" to="$(arg depth_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
@@ -130,11 +129,11 @@
<node if="$(arg compressed)" name="republish_left" type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
<node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
<node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)">
<remap from="rgb/image" to="$(arg left_image_topic)"/>
<remap from="depth/image" to="$(arg right_image_topic)"/>
<remap from="rgb/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="depth/camera_info" to="$(arg right_camera_info_topic)"/>
<node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
<remap from="left/image_rect" to="$(arg left_image_topic)"/>
<remap from="right/image_rect" to="$(arg right_image_topic)"/>
<remap from="left/camera_info" to="$(arg left_camera_info_topic)"/>
<remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
<remap from="rgbd_image" to="$(arg rgbd_topic)"/>
<param name="approx_sync" type="bool" value="$(arg approx_rgbd_sync)"/>
<param name="queue_size" type="int" value="$(arg queue_size)"/>
launch/tests/test_rgbd_image.launch
+2 -4
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@@ -13,7 +13,6 @@
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
<remap from="depth/camera_info" to="depth_registered/camera_info"/>
</node>
</group>
@@ -22,9 +21,8 @@
<!-- RGB-D Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="subscribe_rgbd" type="bool" value="true"/>
<remap from="rgbd_image" to="/camera/rgbd_image"/>
<param name="Odom/AlignWithGround" type="string" value="true"/>
<param name="frame_id" type="string" value="camera_link"/>
launch/tests/test_rtabmap_nodelets.launch
-1
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@@ -22,7 +22,6 @@
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<remap from="depth/camera_info" to="$(arg camera_info_topic)"/>
</node>
<!-- RGB-D Odometry -->