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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/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"/>