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ros-pkg:

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-visual_odometry node is now called rgbd_odometry
-added stereo_odometry node with test launch files
-updated launch files accordingly to modified parameter names, default values or new parameters

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1850 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-13 19:14:30 +00:00
parent 1df6c43d28
commit c0b0219e9e
28 changed files with 1721 additions and 1109 deletions
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launch/demo/demo_multi-session_mapping.launch
+1
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@@ -29,6 +29,7 @@
<param name="RGBD/ScanMatchingSize" type="string" value="0"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="Mem/BadSignaturesIgnored" type="string" value="false"/>
<param name="LccIcp/Type" type="string" value="2"/>
<param name="LccIcp2/Iterations" type="string" value="100"/>
launch/demo/demo_robot_localization.launch
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@@ -34,6 +34,7 @@
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
launch/demo/demo_robot_mapping.launch
+1
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@@ -31,6 +31,7 @@
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
launch/demo/demo_robot_mapping_rviz.launch
+1
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@@ -32,6 +32,7 @@
<param name="RGBD/ScanMatchingSize" type="string" value="1"/> <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/> <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="true"/> <!-- Local loop closure detection with locations in STM -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
<param name="LccIcp/Type" type="string" value="2"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/MaxDepth" type="string" value="0.0"/> <!-- 3D visual words maximum depth 0=infinity -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/> <!-- 3D visual words correspondence distance -->
launch/rgbd_localization.launch
+12 -8
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@@ -3,16 +3,18 @@
<!-- RGB-D LOCALIZATION VERSION -->
<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-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
-Local map size: number of unique features to keep track
-->
<arg name="type" default="0" />
<arg name="nn" default="1" />
<arg name="local_map" default="0" />
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="1000" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
@@ -21,16 +23,17 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap" type="rgbd_odometry" name="visual_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/depth_registered/camera_info"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="Odom/Type" type="string" value="$(arg type)"/>
<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
</node>
<!-- Visual SLAM (robot side) -->
@@ -52,6 +55,7 @@
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="LccBow/MinInliers" type="string" value="10"/> <!-- Minimum inliers to accept a loop closure -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
</node>
<!-- Visualisation (client side) -->
launch/rgbd_localization_rviz.launch
+90
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@@ -0,0 +1,90 @@
<launch>
<!-- RGB-D LOCALIZATION VERSION -->
<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-Local map size: number of unique features to keep track
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="1000" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap" type="rgbd_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<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/depth_registered/camera_info"/>
<remap from="odom" to="odom"/>
<param name="queue_size" type="int" value="30"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="Rtabmap/DatabasePath" type="string" value="~/.ros/rtabmap.db"/> <!-- Database used for localization -->
<param name="Rtabmap/DetectionRate" type="string" value="1"/> <!-- Don't need to do relocation very often! Though better results if the same rate as when mapping. -->
<param name="Mem/STMSize" type="string" value="1"/> <!-- 1 location in short-term memory -->
<param name="Mem/IncrementalMemory" type="string" value="false"/> <!-- false = Localization mode-->
<param name="LccBow/MinInliers" type="string" value="10"/> <!-- Minimum inliers to accept a loop closure -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
</node>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
<remap from="odom_in" to="rtabmap/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
<param name="queue_size" type="int" value="30"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
</launch>
launch/rgbd_mapping.launch
+10 -7
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@@ -5,16 +5,18 @@
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-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
-Local map size: number of unique features to keep track
-->
<arg name="type" default="6" />
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="2000" />
<arg name="local_map" default="1000" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
@@ -23,14 +25,15 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap" type="rgbd_odometry" name="visual_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/depth_registered/camera_info"/>
<param name="Odom/Type" type="string" value="$(arg type)"/>
<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
<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="$(arg nn)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="frame_id" type="string" value="base_link"/>
</node>
launch/rgbd_mapping_rviz.launch
+10 -7
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@@ -5,16 +5,18 @@
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-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
-Local map size: number of unique features to keep track
-->
<arg name="type" default="6" />
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="2000" />
<arg name="local_map" default="1000" />
<!-- TF FRAMES -->
@@ -24,14 +26,15 @@
<group ns="rtabmap">
<!-- Odometry -->
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
<node pkg="rtabmap" type="rgbd_odometry" name="visual_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/depth_registered/camera_info"/>
<param name="Odom/Type" type="string" value="$(arg type)"/>
<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="frame_id" type="string" value="base_link"/>
</node>
launch/tests/bumblebee.launch
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@@ -0,0 +1,26 @@
<launch>
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
<param name="format7_color_coding" value="raw16" />
<param name="bayer_pattern" value="bggr" />
<param name="bayer_method" value="" />
<param name="stereo_method" value="Interlaced" />
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Run the ROS package stereo_image_proc -->
<group ns="/stereo_camera" >
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="standalone rtabmap/disparity_to_depth"/>
</group>
</launch>
launch/tests/test_stereo_data_recorder.launch
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@@ -0,0 +1,86 @@
<launch>
<!-- from bag: rosbag record /stereo_camera/left/image_rect/compressed /stereo_camera/right/image_rect/compressed /stereo_camera/left/camera_info /stereo_camera/right/camera_info /stereo_camera/depth/compressedDepth -->
<param name="use_sim_time" type="bool" value="True"/>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<!--
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
<param name="image_transport" type="string" value="compressed"/>
</node>
-->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="odom_depth" to="/stereo_camera/depth2"/>
<param name="left/image_transport" type="string" value="compressed"/>
<param name="right/image_transport" type="string" value="compressed"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="generate_depth" type="bool" value="false"/>
<!-- Parameters below only used when "generate_depth"=true -->
<param name="depth_patch_size" type="int" value="1"/>
<param name="subpix_win_size" type="int" value="3"/>
<param name="subpix_iterations" type="int" value="20"/>
<param name="subpix_epsilon" type="double" value="0.02"/>
<param name="flow_win_size" type="int" value="9"/>
<param name="flow_max_level" type="int" value="4"/>
<param name="flow_iterations" type="int" value="20"/>
<param name="flow_epsilon" type="double" value="0.02"/>
</node>
<node name="data_recorder" pkg="rtabmap" type="data_recorder" output="screen">
<param name="output_file_name" value="output.db" type="string"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="subscribe_odometry" type="bool" value="true"/>
<param name="subscribe_depth" type="bool" value="false"/>
<param name="subscribe_stereo" type="bool" value="true"/>
<param name="queue_size" type="int" value="20"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect"/>
<remap from="depth/image" to="/stereo_camera/depth2"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="left/image_transport" type="string" value="compressed"/>
<param name="right/image_transport" type="string" value="compressed"/>
<param name="queue_size" type="int" value="10"/>
</node>
</launch>
launch/tests/test_stereo_mapping.launch
+39 -28
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@@ -27,16 +27,15 @@
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap/disparity_to_depth standalone_nodelet"/>
</group>
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<!--
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="/base_link"/>
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
</node>
-->
<!--
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
@@ -46,23 +45,34 @@
<remap from="odometry" to="stereo_odometer/odometry" />
</node>
-->
<!--
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect_color"/>
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="odom_depth" to="/stereo_camera/depth2"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Type" type="string" value="6"/>
<param name="Odom/NearestNeighbor" type="string" value="3"/>
<param name="Odom/LocalHistory" type="string" value="500"/>
<param name="Odom/MaxDepth" type="string" value="3"/>
<param name="Odom/NNDR" type="string" value="0.6"/>
<param name="GFTT/MaxCorners" type="string" value="1000"/>
<param name="BRIEF/Bytes" type="string" value="16"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="generate_depth" type="bool" value="false"/>
<!-- Parameters below only used when "generate_depth"=true -->
<param name="depth_patch_size" type="int" value="1"/>
<param name="subpix_win_size" type="int" value="3"/>
<param name="subpix_iterations" type="int" value="20"/>
<param name="subpix_epsilon" type="double" value="0.02"/>
<param name="flow_win_size" type="int" value="9"/>
<param name="flow_max_level" type="int" value="4"/>
<param name="flow_iterations" type="int" value="20"/>
<param name="flow_epsilon" type="double" value="0.02"/>
</node>
-->
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
@@ -78,14 +88,14 @@
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="/base_link"/>
<param name="queue_size" type="int" value="50"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="queue_size" type="int" value="30"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="SURF/HessianThreshold" type="string" value="600"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
@@ -95,10 +105,11 @@
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<!-- Visualisation (client side) -->
<!--
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
@@ -106,28 +117,29 @@
<remap from="rgb/image" to="/stereo_camera/left/image_rect_color"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="depth/image" to="/odom_depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
-->
</group>
<!-- RVIZ -->
<!--
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
<remap from="depth/image_in" to="camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info_in" to="camera/depth_registered/camera_info"/>
<remap from="odom_in" to="rtabmap/odom"/>
<remap from="rgb/image_in" to="/stereo_camera/left/image_rect_color"/>
<remap from="depth/image_in" to="/odom_depth"/>
<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
<remap from="odom_in" to="/stereo_odometer/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
<param name="queue_size" type="int" value="50"/>
<param name="queue_size" type="int" value="30"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
@@ -136,7 +148,6 @@
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
-->
</launch>
launch/tests/test_stereo_mapping_bag.launch
+146
View File
@@ -0,0 +1,146 @@
<launch>
<!-- from bag: rosbag record /stereo_camera/left/image_rect/compressed /stereo_camera/right/image_rect/compressed /stereo_camera/left/camera_info /stereo_camera/right/camera_info /stereo_camera/depth/compressedDepth -->
<param name="use_sim_time" type="bool" value="True"/>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
<remap from="image" to="image_rect"/>
<param name="base_link_frame_id" value="base_link"/>
<param name="odom_frame_id" value="/odom"/>
<param name="ref_frame_change_method" value="1"/>
<param name="image_transport" type="string" value="compressed"/>
</node>
<!--
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
<remap from="/stereo/left/camera_info" to="/stereo_camera/left/camera_info" />
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info" />
<remap from="odometry" to="stereo_odometer/odometry" />
</node>
-->
<!--
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<remap from="odom_depth" to="/stereo_camera/depth2"/>
<param name="left/image_transport" type="string" value="compressed"/>
<param name="right/image_transport" type="string" value="compressed"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="generate_depth" type="bool" value="false"/>
<!-- Parameters below only used when "generate_depth"=true -->
<param name="depth_patch_size" type="int" value="1"/>
<param name="subpix_win_size" type="int" value="3"/>
<param name="subpix_iterations" type="int" value="20"/>
<param name="subpix_epsilon" type="double" value="0.02"/>
<param name="flow_win_size" type="int" value="9"/>
<param name="flow_max_level" type="int" value="4"/>
<param name="flow_iterations" type="int" value="20"/>
<param name="flow_epsilon" type="double" value="0.02"/>
</node>
-->
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="queue_size" type="int" value="30"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="Rtabmap/DetectorStrategy" type="string" value="6"/>
<param name="NN/NNStrategy" type="string" value="3"/>
<param name="GFTT/MaxCorners" type="string" value="200"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<!-- Visualisation (client side) -->
<!--
<node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_laserScan" type="bool" value="false"/>
<param name="queue_size" type="int" value="30"/>
<remap from="rgb/image" to="/stereo_camera/left/image_rect"/>
<remap from="rgb/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="depth/image" to="/stereo_camera/depth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="rgb/image_transport" type="string" value="compressed"/>
<param name="depth/image_transport" type="string" value="compressedDepth"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
</node>
-->
</group>
<!-- RVIZ -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap/data_odom_sync standalone_nodelet">
<remap from="rgb/image_in" to="/stereo_camera/left/image_rect_color"/>
<remap from="depth/image_in" to="/odom_depth"/>
<remap from="rgb/camera_info_in" to="/stereo_camera/left/camera_info"/>
<remap from="odom_in" to="/stereo_odometer/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
<remap from="depth/image_out" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info_out" to="data_odom_sync/camera_info"/>
<remap from="odom_out" to="odom_sync"/>
<param name="queue_size" type="int" value="30"/>
</node>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="data_odom_sync/image"/>
<remap from="depth/image" to="data_odom_sync/depth"/>
<remap from="rgb/camera_info" to="data_odom_sync/camera_info"/>
<remap from="cloud" to="voxel_cloud" />
<param name="queue_size" type="int" value="10"/>
</node>
</launch>
launch/tests/test_stereo_odometry.launch
+19 -27
View File
@@ -1,16 +1,5 @@
<launch>
<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-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
-Local map size: number of unique features to keep track
-->
<arg name="type" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="5000" />
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
<param name="format7_color_coding" value="raw16" />
@@ -32,8 +21,8 @@
<!-- Odometry -->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="left/image_rect_color"/>
<remap from="right/image_rect" to="right/image_rect_color"/>
<remap from="left/image_rect" to="left/image_rect"/>
<remap from="right/image_rect" to="right/image_rect"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<remap from="odom" to="odom_stereo"/>
@@ -43,20 +32,23 @@
<param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="min_disparity" type="int" value="0"/>
<param name="max_disparity" type="int" value="256"/>
<param name="k" type="int" value="10"/>
<param name="window_size" type="int" value="5"/>
<param name="Odom/Type" type="string" value="$(arg type)"/>
<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
<param name="approx_sync" type="bool" value="false"/>
<param name="queue_size" type="int" value="5"/>
<param name="Odom/MaxDepth" type="string" value="3"/>
<param name="Odom/NNDR" type="string" value="0.6"/>
<param name="GFTT/MaxCorners" type="string" value="1000"/>
<param name="BRIEF/Bytes" type="string" value="16"/>
<param name="Odom/Strategy" type="string" value="1"/>
<param name="Odom/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Odom/MaxDepth" type="string" value="10"/>
<param name="generate_depth" type="bool" value="false"/>
<!-- Parameters below only used when "generate_depth"=true -->
<param name="depth_patch_size" type="int" value="1"/>
<param name="subpix_win_size" type="int" value="3"/>
<param name="subpix_iterations" type="int" value="20"/>
<param name="subpix_epsilon" type="double" value="0.02"/>
<param name="flow_win_size" type="int" value="9"/>
<param name="flow_max_level" type="int" value="4"/>
<param name="flow_iterations" type="int" value="20"/>
<param name="flow_epsilon" type="double" value="0.02"/>
</node>
</group>