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Updated demo_stereo_outdoor.launch (removed map_optimizer, updated parameters)

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matlabbe
2015-10-31 16:37:39 -04:00
parent 1dfa4e7f95
commit d50652cbc5
2 changed files with 27 additions and 32 deletions
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launch/config/demo_stereo_outdoor.rviz
+15 -10
View File
@@ -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
Value: false
Topic: /rtabmap/proj_map
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
Y: 48
X: 117
Y: 18
launch/demo/demo_stereo_outdoor.launch
+12 -22
View File
@@ -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="GFTT/MinDistance" type="string" value="5"/>
<param name="Odom/MaxFeatures" type="string" value="1000"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="GFTT/MinDistance" type="string" value="10"/>
<param name="GFTT/QualityLevel" type="string" value="0.00001"/>
</node>
<group ns="rtabmap">
@@ -70,7 +72,7 @@
<remap from="left/camera_info" to="/stereo_camera/left/camera_info_throttle"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
<remap from="odom" to="/odometry"/>
<remap from="odom" to="/stereo_odometry"/>
<param name="queue_size" type="int" value="30"/>
@@ -81,28 +83,16 @@
<param name="Kp/WordsPerImage" type="string" value="200"/>
<param name="Kp/RoiRatios" type="string" value="0.03 0.03 0.04 0.04"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="SURF/HessianThreshold" type="string" value="1000"/>
<param name="LccBow/MaxDepth" type="string" value="5"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/EstimationType" type="string" value="1"/> <!-- 3D->2D (PnP) -->
<param name="LccReextract/Activated" type="string" value="true"/>
<param name="LccReextract/MaxWords" type="string" value="500"/>
<!-- Disable graph optimization because we use map_optimizer node below -->
<param name="RGBD/ToroIterations" type="string" value="0"/>
</node>
<!-- Optimizing outside rtabmap node makes it able to optimize always the global map -->
<node pkg="rtabmap_ros" type="map_optimizer" name="map_optimizer"/>
<node if="$(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"/>
<param name="LccReextract/MaxDepth" type="string" value="10"/>
</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="mapData" to="mapData_optimized"/>
<remap from="odom" to="/stereo_odometry"/>
<remap from="mapData" to="mapData"/>
</node>
</group>