i/rtabmap_ros
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap_ros.git synced 2026-10-03 16:27:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

ros-pkg:

Browse Source 
-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
Download Patch File Download Diff File Expand all files Collapse all files
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>