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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
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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
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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
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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 -->