Updated demo_stereo_outdoor.launch (removed map_optimizer, updated parameters)

launch/config/demo_stereo_outdoor.rviz

@@ -147,17 +147,22 @@ Visualization Manager:
       Size (Pixels): 3
       Size (m): 0.01
       Style: Points
-      Topic: /rtabmap/mapData_optimized
+      Topic: /rtabmap/mapData
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
     - Alpha: 1
       Class: rtabmap_ros/MapGraph
-      Color: 25; 255; 0
       Enabled: true
+      Global loop closure: 255; 0; 0
+      Local loop closure: 255; 255; 0
+      Merged neighbor: 255; 170; 0
       Name: MapGraph
+      Neighbor: 0; 0; 255
       Topic: /rtabmap/mapDataGraph_optimized
+      User: 255; 0; 0
       Value: true
+      Virtual: 255; 0; 255
     - Class: rviz/Image
       Enabled: true
       Image Topic: /stereo_camera/left/image_rect_color
@@ -173,10 +178,10 @@ Visualization Manager:
       Class: rviz/Map
       Color Scheme: map
       Draw Behind: false
-      Enabled: false
+      Enabled: true
       Name: Map
-      Topic: /map
+      Topic: /rtabmap/proj_map
-      Value: false
+      Value: true
     - Class: rtabmap_ros/Info
       Enabled: true
       Name: Info
@@ -206,7 +211,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rtabmap_ros/OrbitOriented
-      Distance: 6.60197
+      Distance: 8.28384
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.06
         Stereo Focal Distance: 1
@@ -218,10 +223,10 @@ Visualization Manager:
         Z: 0.113349
       Name: Current View
       Near Clip Distance: 0.01
-      Pitch: 0.455398
+      Pitch: 0.635398
       Target Frame: base_footprint
       Value: OrbitOriented (rtabmap)
-      Yaw: 3.1304
+      Yaw: 3.0704
     Saved: ~
 Window Geometry:
   Displays:
@@ -241,5 +246,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1341
-  X: 147
+  X: 117
-  Y: 48
+  Y: 18

launch/demo/demo_stereo_outdoor.launch

@@ -43,19 +43,21 @@
       <remap from="right/image_rect"      to="/stereo_camera/right/image_rect"/>
       <remap from="left/camera_info"      to="/stereo_camera/left/camera_info_throttle"/>
       <remap from="right/camera_info"     to="/stereo_camera/right/camera_info_throttle"/>
-      <remap from="odom"                  to="/odometry"/>
+      <remap from="odom"                  to="/stereo_odometry"/>
 
       <param name="frame_id" type="string" value="base_footprint"/>
       <param name="odom_frame_id" type="string" value="odom"/>
 
-      <param name="Odom/InlierDistance" type="string" value="0.1"/>
+      <param name="Odom/Strategy" type="string" value="0"/> <!-- 0=BOW, 1=OpticalFlow -->
+      <param name="Odom/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
       <param name="Odom/MinInliers" type="string" value="10"/>
       <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="OdomBow/NNDR" type="string" value="0.8"/>
-      <param name="GFTT/MaxCorners" type="string" value="500"/>
+      <param name="Odom/MaxFeatures" type="string" value="1000"/>
-      <param name="GFTT/MinDistance" type="string" value="5"/>
       <param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
+      <param name="GFTT/MinDistance" type="string" value="10"/>
+      <param name="GFTT/QualityLevel" type="string" value="0.00001"/> 
    </node>
      
    <group ns="rtabmap">   
@@ -70,7 +72,7 @@
          <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
          <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
 
-         <remap from="odom" to="/odometry"/>
+         <remap from="odom" to="/stereo_odometry"/>
 
          <param name="queue_size" type="int" value="30"/>
 
@@ -81,28 +83,16 @@
          <param name="Kp/WordsPerImage" type="string" value="200"/>
          <param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
          <param name="Kp/DetectorStrategy" type="string" value="0"/>   <!-- use SURF -->
-		 <param name="Kp/NNStrategy" type="string" value="1"/>         <!-- kdTree -->
+         <param name="Kp/NNStrategy" type="string" value="1"/>         <!-- kdTree -->
 
          <param name="SURF/HessianThreshold" type="string" value="1000"/>
 
-         <param name="LccBow/MaxDepth" type="string" value="5"/>
          <param name="LccBow/MinInliers" type="string" value="10"/>
-         <param name="LccBow/InlierDistance" type="string" value="0.02"/>
+         <param name="LccBow/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
 
          <param name="LccReextract/Activated" type="string" value="true"/>
          <param name="LccReextract/MaxWords" type="string" value="500"/>
-         
+         <param name="LccReextract/MaxDepth" type="string" value="10"/> 
-         <!-- Disable graph optimization because we use map_optimizer node below -->
-         <param name="RGBD/ToroIterations" type="string" value="0"/> 
-      </node>
-    
-      <!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
-      <node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
-      
-      <node if="$(arg rviz)" pkg="rtabmap_ros" type="map_assembler" name="map_assembler">
-         <param name="occupancy_grid" type="bool" value="true"/>
-         <remap from="mapData" to="mapData_optimized"/>
-         <remap from="grid_projection_map" to="/map"/>
       </node>
       
       <!-- Visualisation RTAB-Map -->
@@ -116,8 +106,8 @@
          <remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
          <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
          <remap from="odom_info" to="/odom_info"/>
-         <remap from="odom" to="/odometry"/>
+         <remap from="odom" to="/stereo_odometry"/>
-         <remap from="mapData" to="mapData_optimized"/>
+         <remap from="mapData" to="mapData"/>
       </node>
          
    </group>