added azimut3 find_object launch file

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1638 f169173b-cf89-36c8-b27e-44dbe73f0c83

launch/azimut3/az3_bag_find_object.launch

@@ -0,0 +1,15 @@
+<launch>
+  <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
+    <param name="gui" value="true" type="bool"/>
+    <param name="settings_path" value="$(find rtabmap)/launch/config/azimut3_find_object.ini" type="str"/>
+    <param name="subscribe_depth" value="true" type="bool"/>
+    <param name="objects_path" value="$(find rtabmap)/launch/config/books" type="str"/>
+		
+    <remap from="rgb/image_rect_color" to="camera/data_throttled_image"/>
+    <remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth"/>
+    <remap from="depth_registered/camera_info" to="camera/data_throttled_camera_info"/>
+
+    <param name="rgb/image_transport" type="string" value="compressed"/>
+    <param name="depth/image_transport" type="string" value="compressedDepth"/>
+  </node>
+</launch>

launch/azimut3/az3_bag_mapping.launch

@@ -20,7 +20,7 @@
   	  <remap from="rgb/camera_info" to="/camera/data_throttled_camera_info"/>
   	  
   	  <param name="rgb/image_transport" type="string" value="compressed"/>
-      <param name="depth/image_transport" type="string" value="compressedDepth"/>
+     	  <param name="depth/image_transport" type="string" value="compressedDepth"/>
 	
 	  <param name="queue_size" type="int" value="10"/>
 	
@@ -43,7 +43,7 @@
     </node>
   </group> 
 
-  <!-- Visualisation (client side) -->
+  <!-- Visualisation -->
   <include file="$(find rtabmap)/launch/azimut3/az3_mapping_client.launch"/>
 
 </launch>

launch/azimut3/az3_mapping_client.launch

@@ -7,8 +7,8 @@
   <!-- Visualisation (client side) -->
   <group ns="rtabmap">
     <node pkg="rtabmap" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap)/launch/config/rgbd_gui.ini" output="screen">
-  	  <param name="subscribe_depth" type="bool" value="false"/>
+  	  <param name="subscribe_depth" type="bool" value="true"/>
-      <param name="subscribe_laserScan" type="bool" value="false"/>
+      <param name="subscribe_laserScan" type="bool" value="true"/>
       <param name="queue_size" type="int" value="10"/>
       <param name="frame_id" type="string" value="base_footprint"/>
     

launch/azimut3/az3_remote_find_object.launch

@@ -0,0 +1,12 @@
+<launch>
+  <node name="find_object_3d" pkg="find_object_2d" type="find_object_2d" output="screen">
+    <param name="gui" value="true" type="bool"/>
+    <param name="settings_path" value="$(find rtabmap)/launch/config/azimut3_find_object.ini" type="str"/>
+    <param name="subscribe_depth" value="true" type="bool"/>
+    <param name="objects_path" value="$(find rtabmap)/launch/config/books" type="str"/>
+		
+    <remap from="rgb/image_rect_color" to="camera/data_throttled_image_relay"/>
+    <remap from="depth_registered/image_raw" to="camera/data_throttled_image_depth_relay"/>
+    <remap from="depth_registered/camera_info" to="camera/data_throttled_camera_info_relay"/>
+  </node>
+</launch>

launch/config/azimut3_find_object.ini

@@ -0,0 +1,136 @@
+[General]
+windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x1\0\0\xff\xff\xff\xf9\0\0\x1|\0\0\x1]\0\0\x2\xc3\0\0\0\x1\0\0\x1\x98\0\0\x1U\0\0\x2\xbb\0\0\0\0\0\0)
+windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xc8\0\0\x3\a\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x8a\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x3\a\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x19\0\0\x3\a\0\0\0\x9c\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\b\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1U\0\0\0\xf5\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)
+
+[Camera]
+1deviceId=0
+2imageWidth=640
+3imageHeight=480
+4imageRate=0
+5mediaPath=
+6useTcpCamera=false
+7IP=127.0.0.1
+8port=5000
+9queueSize=1
+
+[Feature2D]
+1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK"
+2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK"
+3MaxFeatures=0
+BRISK_octaves=3
+BRISK_patternScale=1
+BRISK_thresh=30
+Brief_bytes=32
+Dense_featureScaleLevels=1
+Dense_featureScaleMul=0.1
+Dense_initFeatureScale=1
+Dense_initImgBound=0
+Dense_initXyStep=6
+Dense_varyImgBoundWithScale=false
+Dense_varyXyStepWithScale=true
+FREAK_nOctaves=4
+FREAK_orientationNormalized=true
+FREAK_patternScale=22
+FREAK_scaleNormalized=true
+Fast_gpu=false
+Fast_keypointsRatio=0.05
+Fast_nonmaxSuppression=true
+Fast_threshold=10
+GFTT_blockSize=3
+GFTT_k=0.04
+GFTT_maxCorners=1000
+GFTT_minDistance=1
+GFTT_qualityLevel=0.01
+GFTT_useHarrisDetector=false
+MSER_areaThreshold=1.01
+MSER_delta=5
+MSER_edgeBlurSize=5
+MSER_maxArea=14400
+MSER_maxEvolution=200
+MSER_maxVariation=0.25
+MSER_minArea=60
+MSER_minDiversity=0.2
+MSER_minMargin=0.003
+ORB_WTA_K=2
+ORB_edgeThreshold=31
+ORB_firstLevel=0
+ORB_gpu=false
+ORB_nFeatures=500
+ORB_nLevels=8
+ORB_patchSize=31
+ORB_scaleFactor=1.2
+ORB_scoreType=0
+SIFT_contrastThreshold=0.04
+SIFT_edgeThreshold=10
+SIFT_nOctaveLayers=3
+SIFT_nfeatures=0
+SIFT_sigma=1.6
+SURF_extended=true
+SURF_gpu=false
+SURF_hessianThreshold=600
+SURF_keypointsRatio=0.01
+SURF_nOctaveLayers=2
+SURF_nOctaves=4
+SURF_upright=false
+Star_lineThresholdBinarized=8
+Star_lineThresholdProjected=10
+Star_maxSize=45
+Star_responseThreshold=30
+Star_suppressNonmaxSize=5
+
+[%General]
+autoScroll=true
+autoStartCamera=false
+autoUpdateObjects=true
+controlsShown=false
+imageFormats=*.png *.jpg *.bmp *.tiff *.ppm
+invertedSearch=true
+mirrorView=false
+multiDetection=false
+multiDetectionRadius=30
+nextObjID=9
+port=0
+sendNoObjDetectedEvents=false
+threads=1
+videoFormats=*.avi *.m4v *.mp4
+vocabularyIncremental=false
+vocabularyUpdateMinWords=2000
+autoPauseOnDetection=false
+
+[Homography]
+homographyComputed=true
+ignoreWhenAllInliers=false
+method="1:LMEDS;RANSAC"
+minimumInliers=10
+ransacReprojThr=5
+rectBorderWidth=4
+allCornersVisible=false
+minAngle=50
+
+[NearestNeighbor]
+1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh"
+2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING"
+3nndrRatioUsed=true
+4nndrRatio=0.8
+5minDistanceUsed=false
+6minDistance=1.6
+7search_checks=32
+8search_eps=0
+9search_sorted=true
+Autotuned_build_weight=0.01
+Autotuned_memory_weight=0
+Autotuned_sample_fraction=0.1
+Autotuned_target_precision=0.8
+Composite_branching=32
+Composite_cb_index=0.2
+Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP"
+Composite_iterations=11
+Composite_trees=4
+KDTree_trees=4
+KMeans_branching=32
+KMeans_cb_index=0.2
+KMeans_centers_init="0:RANDOM;GONZALES;KMEANSPP"
+KMeans_iterations=11
+Lsh_key_size=20
+Lsh_multi_probe_level=2
+Lsh_table_number=12