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Updated ros-pkg for RTAB-Map 0.8.0

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Moved all nodelets and rviz plugins in "rtabmap_ros" namespace instead of "rtabmap"
Refactored rtabmap_ros messages (added convenient conversion methods in rtabmap_ros/MsgConversion.h)
Added noise filtering parameters for map_assembler node
Added variance parameter for map_optimizer node
Odometry nodes publish covariance matrices in odometry messages. Publish rtambap_ros::OdomInfo topic too.
This commit is contained in:
Mathieu Labbe
2014-12-14 16:44:13 -05:00
parent c91586ea57
commit dfe5cff0c0
74 changed files with 915 additions and 1088 deletions
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launch/azimut3/az3_mapping_client.launch
+1 -1
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@@ -21,7 +21,7 @@
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
launch/azimut3/az3_mapping_client_nav.launch
+1 -1
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@@ -11,7 +11,7 @@
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/azimut3/config/azimut3_nav.rviz"/>
<!-- Below, construct point cloud of the latest throttled data, disabled for bandwidth efficiency -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap/point_cloud_xyzrgb">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
launch/azimut3/az3_mapping_robot.launch
+1 -1
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@@ -10,7 +10,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_mapping_robot_kinect_odom.launch
+1 -1
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@@ -10,7 +10,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_mapping_robot_kinect_scan.launch
+1 -1
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@@ -10,7 +10,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_mapping_robot_nav.launch
+2 -2
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@@ -47,7 +47,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
@@ -60,7 +60,7 @@
</node>
<!-- for the planner -->
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_planner" args="load rtabmap/point_cloud_xyzrgb camera_nodelet_manager">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb_planner" args="load rtabmap_ros/point_cloud_xyzrgb camera_nodelet_manager">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
launch/azimut3/az3_mapping_robot_stereo_nav.launch
+3 -3
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@@ -69,7 +69,7 @@
<node pkg="nodelet" type="nodelet" name="stereo_nodelet" args="manager"/>
<!-- HACK: the fps parameter on camera1394stereo_node doesn't work for my camera!?!?
Throttle camera images -->
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap/stereo_throttle stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="load rtabmap_ros/stereo_throttle stereo_nodelet">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
@@ -88,7 +88,7 @@
</node>
<!-- Create point cloud for the planner -->
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap/point_cloud_xyz stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="disparity2cloud" args="load rtabmap_ros/point_cloud_xyz stereo_nodelet">
<remap from="disparity/image" to="disparity"/>
<remap from="disparity/camera_info" to="right/camera_info_throttle"/>
<remap from="cloud" to="cloudXYZ"/>
@@ -97,7 +97,7 @@
<param name="decimation" type="int" value="4"/>
<param name="max_depth" type="double" value="4"/>
</node>
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap/obstacles_detection stereo_nodelet">
<node pkg="nodelet" type="nodelet" name="obstacles_detection" args="load rtabmap_ros/obstacles_detection stereo_nodelet">
<remap from="cloud" to="cloudXYZ"/>
<remap from="obstacles" to="/planner_cloud"/>
launch/azimut3/az3_remote_mapping_robot.launch
+1 -1
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@@ -10,7 +10,7 @@
<!-- Throttling messages -->
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle camera_nodelet_manager" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle camera_nodelet_manager" output="screen">
<param name="max_rate" type="double" value="5.0"/>
<remap from="rgb/image_in" to="rgb/image_rect_color"/>
launch/azimut3/az3_remote_mapping_rviz.launch
+1 -1
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@@ -56,7 +56,7 @@
<!-- Below, construct point cloud of the latest throttled data -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image_relay"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth_relay"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info_relay"/>
launch/config/demo_find_object.rviz
+3 -3
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@@ -272,7 +272,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 3
Cloud voxel size (m): 0.02
@@ -298,7 +298,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -330,7 +330,7 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rtabmap/OrbitOriented
Class: rtabmap_ros/OrbitOriented
Distance: 7.83194
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
launch/config/demo_robot_mapping.rviz
+3 -3
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@@ -138,7 +138,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 8
Cloud max depth (m): 4
Cloud voxel size (m): 0.01
@@ -165,7 +165,7 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap/MapGraph
Class: rtabmap_ros/MapGraph
Color: 25; 255; 0
Enabled: true
Name: MapGraph
@@ -179,7 +179,7 @@ Visualization Manager:
Name: Map
Topic: /rtabmap/grid_map
Value: true
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
launch/config/demo_stereo_outdoor.rviz
+4 -4
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@@ -125,7 +125,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0
@@ -152,7 +152,7 @@ Visualization Manager:
Use rainbow: true
Value: true
- Alpha: 1
Class: rtabmap/MapGraph
Class: rtabmap_ros/MapGraph
Color: 25; 255; 0
Enabled: true
Name: MapGraph
@@ -177,7 +177,7 @@ Visualization Manager:
Name: Map
Topic: /map
Value: false
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
@@ -205,7 +205,7 @@ Visualization Manager:
Value: true
Views:
Current:
Class: rtabmap/OrbitOriented
Class: rtabmap_ros/OrbitOriented
Distance: 6.60197
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
launch/config/rgbd.rviz
+2 -2
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@@ -135,7 +135,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0.01
@@ -161,7 +161,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
launch/config/rgbdslam_datasets.rviz
+2 -2
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@@ -143,7 +143,7 @@ Visualization Manager:
Value: true
Axis: Z
Channel Name: intensity
Class: rtabmap/MapCloud
Class: rtabmap_ros/MapCloud
Cloud decimation: 4
Cloud max depth (m): 4
Cloud voxel size (m): 0.01
@@ -169,7 +169,7 @@ Visualization Manager:
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rtabmap/Info
- Class: rtabmap_ros/Info
Enabled: true
Name: Info
Topic: /rtabmap/info
launch/data_recorder.launch
+1 -1
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@@ -21,7 +21,7 @@
<!-- Throttling messages -->
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap/data_throttle standalone_nodelet" output="screen">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="load rtabmap_ros/data_throttle standalone_nodelet" output="screen">
<param name="max_rate" type="double" value="10.0"/>
<remap from="rgb/image_in" to="/camera/rgb/image_rect_color"/>
launch/demo/demo_appearance_localization.launch
+2 -2
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@@ -27,8 +27,8 @@
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<!-- This enables the GUI to pause a rtabmap_ros/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap_ros/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<param name="camera_node_name" type="string" value="/camera"/>
</node>
launch/demo/demo_appearance_mapping.launch
+4 -4
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@@ -23,15 +23,15 @@
<param name="Mem/IncrementalMemory" type="string" value="true"/> <!-- true = SLAM mode -->
<param name="Mem/RehearsalIdUpdatedToNewOne" type="string" value="true"/> <!-- On merging, update to new ID-->
<param name="Mem/BadSignaturesIgnored" type="string" value="true"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
<param name="Kp/DetectorStrategy" type="string" value="2"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="3"/> <!-- kdTree -->
</node>
<!-- visualization of the "infoEx" topic sent by rtabmap node -->
<node name="rtabmapviz" pkg="rtabmap_ros" type="rtabmapviz" output="screen" args="-d $(find rtabmap_ros)/launch/config/appearance_gui.ini">
<!-- This enables the GUI to pause a rtabmap/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<!-- This enables the GUI to pause a rtabmap_ros/camera when action "pause" is checked. -->
<!-- NOTE: It is specific to rtabmap_ros/camera. Action "pause" in the GUI will still pause the rtabmap node. -->
<param name="camera_node_name" type="string" value="/camera"/>
</node>
launch/demo/demo_find_object.launch
+1 -3
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@@ -42,8 +42,6 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Mem/RehearsedNodesKept" type="string" value="false"/>
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node>
</group>
@@ -65,7 +63,7 @@
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_find_object.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/point_cloud_xyzrgb standalone_nodelet">
<remap from="rgb/image" to="/camera/data_throttled_image"/>
<remap from="depth/image" to="/camera/data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
launch/demo/demo_multi-session_mapping.launch
+1 -1
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@@ -26,7 +26,7 @@
<param name="queue_size" type="int" value="10"/>
<!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
<param name="RGBD/ScanMatchingSize" type="string" value="0"/>
<param name="RGBD/PoseScanMatching" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="true"/>
launch/demo/demo_robot_localization.launch
-2
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@@ -41,8 +41,6 @@
<param name="LccIcp2/MaxFitness" type="string" value="10"/>
<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 -->
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node>
<!-- Visualisation (client side) -->
launch/demo/demo_robot_mapping.launch
-2
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@@ -35,8 +35,6 @@
<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 -->
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node>
<!-- Visualisation (client side) -->
launch/demo/demo_robot_mapping_rviz.launch
+1 -5
View File
@@ -37,8 +37,6 @@
<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 -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/> <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->
<param name="Kp/DetectorStrategy" type="string" value="0"/> <!-- use SURF -->
<param name="Kp/NNStrategy" type="string" value="1"/> <!-- kdTree -->
</node>
<!-- Grid map assembler for rviz -->
@@ -50,9 +48,7 @@
<!-- Visualisation -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_robot_mapping.rviz" output="screen"/>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap/point_cloud_xyzrgb standalone_nodelet">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
<remap from="rgb/image" to="data_throttled_image"/>
<remap from="depth/image" to="data_throttled_image_depth"/>
<remap from="rgb/camera_info" to="data_throttled_camera_info"/>
launch/demo/demo_stereo_outdoor.launch
+1 -1
View File
@@ -48,7 +48,7 @@
<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"/>
</node>
launch/demo/demo_stereo_pr2.launch
+1 -1
View File
@@ -13,7 +13,7 @@
<group ns="/wide_stereo">
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="disparity" args="load stereo_image_proc/disparity standalone_nodelet"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap/disparity_to_depth standalone_nodelet"/>
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap_ros/disparity_to_depth standalone_nodelet"/>
</group>
<!-- Odometry: Run the viso2_ros package -->
launch/rgbd_localization.launch
+19 -10
View File
@@ -3,17 +3,23 @@
<!-- 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
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : 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
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : 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="max_depth" default="4.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<!-- TF FRAMES -->
@@ -31,9 +37,12 @@
<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="$(arg local_map)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
</node>
<!-- Visual SLAM (robot side) -->
launch/rgbd_localization_rviz.launch
+21 -12
View File
@@ -3,17 +3,23 @@
<!-- RGB-D LOCALIZATION VERSION -->
<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-Local map size: number of unique features to keep track
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="4.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<!-- TF FRAMES -->
@@ -31,9 +37,12 @@
<param name="frame_id" type="string" value="base_link"/>
<param name="Odom/Strategy" type="string" value="$(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="$(arg local_map)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
</node>
<!-- Visual SLAM (robot side) -->
@@ -64,7 +73,7 @@
<!-- 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">
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/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"/>
@@ -77,7 +86,7 @@
<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">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/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"/>
launch/rgbd_mapping.launch
+19 -10
View File
@@ -5,17 +5,23 @@
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- 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
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : 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
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : 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="max_depth" default="4.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
<!-- TF FRAMES -->
@@ -31,9 +37,12 @@
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<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="$(arg local_map)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="frame_id" type="string" value="base_link"/>
</node>
launch/rgbd_mapping_rviz.launch
+21 -12
View File
@@ -5,17 +5,23 @@
<!-- WARNING : Database is automatically deleted on each startup -->
<!-- See "delete_db_on_start" option below... -->
<!-- ODOMETRY ARGUMENTS: "strategy", "feature", "nn" and "local_map":
-Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-Local map size: number of unique features to keep track
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
Set to 3 for binary descriptor like ORB/FREAK/BRIEF/BRISK
-"max_depth" : Maximum features depth (m)
-"min_inliers" : Minimum visual correspondences to accept a transformation (m)
-"inlier_distance" : RANSAC maximum inliers distance (m)
-"local_map" : Local map size: number of unique features to keep track
-->
<arg name="strategy" default="0" />
<arg name="feature" default="6" />
<arg name="nn" default="3" />
<arg name="max_depth" default="4.0" />
<arg name="min_inliers" default="20" />
<arg name="inlier_distance" default="0.02" />
<arg name="local_map" default="1000" />
@@ -32,9 +38,12 @@
<remap from="rgb/camera_info" to="/camera/depth_registered/camera_info"/>
<param name="Odom/Strategy" type="string" value="$(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="$(arg local_map)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="Odom/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Odom/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Odom/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomBow/LocalHistorySize" type="string" value="$(arg local_map)"/>
<param name="frame_id" type="string" value="base_link"/>
</node>
@@ -63,7 +72,7 @@
<!-- 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">
<node pkg="nodelet" type="nodelet" name="data_odom_sync" args="load rtabmap_ros/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"/>
@@ -76,7 +85,7 @@
<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">
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="load rtabmap_ros/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"/>