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Updated against latest changes from 0.11. Added localMap features to OdomInfo msg. Updated rgbdslam_datasets.launch.

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matlabbe
2016-03-09 17:31:57 -05:00
parent d712efe455
commit a4dfe5a21e
8 changed files with 82 additions and 23 deletions
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launch/tests/rgbdslam_datasets.launch
+9 -11
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@@ -29,21 +29,21 @@
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="odom" to="vis_odom"/>
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
<param name="Vis/CorType" type="string" value="0"/> <!-- 0=features matching 1=Optical Flow -->
<param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Odom/Strategy" type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame-to-KeyFrame -->
<param name="Vis/CorType" type="string" value="0"/> <!-- 0=features matching 1=Optical Flow -->
<param name="Vis/EstimationType" type="string" value="0"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="Vis/UseDepthAsMask" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="4"/>
<param name="Vis/PnPRefineIterations" type="string" value="0"/>
<param name="Odom/ResetCountdown" type="string" value="15"/>
<param name="Vis/CorNNDR" type="string" value="0.6"/>
<param name="Odom/ResetCountdown" type="string" value="15"/>
<param name="Odom/KeyFrameThr" type="string" value="0.5"/>
<param name="odom_frame_id" type="string" value="vis_odom"/>
<param name="frame_id" type="string" value="kinect"/>
<param name="publish_tf" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
<param name="wait_for_transform" type="bool" value="true"/>
<param name="ground_truth_frame_id" type="string" value="world"/>
<param name="ground_truth_frame_id" type="string" value="world"/>
</node>
<!-- rename the child frame of odometry -->
<node name="odom_msg_to_tf" pkg="rtabmap_ros" type="odom_msg_to_tf">
@@ -57,13 +57,11 @@
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="Rtabmap/StartNewMapOnLoopClosure" type="string" value="true"/>
<param name="Vis/EstimationType" type="string" value="1"/>
<param name="Vis/EstimationType" type="string" value="0"/>
<param name="Vis/MaxDepth" type="string" value="4"/>
<param name="Vis/PnPRefineIterations" type="string" value="0"/>
<param name="RGBD/LoopClosureReextractFeatures" type="string" value="false"/>
<param name="Mem/RawDescriptorsKept" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="6"/>
<param name="Mem/UseDepthAsMask" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/>
<param name="frame_id" type="string" value="kinect"/>
<param name="ground_truth_frame_id" type="string" value="world"/>