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fixed warnings of demo_two_kinects.launch

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matlabbe
2018-10-19 19:10:45 -04:00
parent 1cb8ec38c9
commit e7075b3b41
2 changed files with 6 additions and 4 deletions
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launch/demo/demo_two_kinects.launch
+5 -3
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@@ -12,7 +12,7 @@
<include file="$(find freenect_launch)/launch/freenect.launch">
<arg name="depth_registration" value="True" />
<arg name="camera" value="camera2" />
<arg name="device_id" value="#2" />
<arg name="device_id" value="#1" />
</include>
<!-- Frames: Kinects are placed at 90 degrees, clockwise -->
@@ -58,7 +58,7 @@
<group ns="camera2">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="load rtabmap_ros/rgbd_sync camera2_nodelet_manager">
<remap from="rgb/image" to="rgb/image_rect_color"/>
<remap from="depth/image" to="depth_registered/image_raw"/>
<remap from="depth/image" to="depth_registered/image"/>
<remap from="rgb/camera_info" to="rgb/camera_info"/>
</node>
</group>
@@ -75,8 +75,10 @@
<param name="rgbd_cameras" type="int" value="2"/>
<param name="wait_for_transform" type="bool" value="$(arg wait_for_transform)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="OdomF2M/BundleAdjustment" type="string" value="0"/> <!-- should be 0 for multi-cameras -->
<param name="Vis/EstimationType" type="string" value="0"/> <!-- should be 0 for multi-cameras -->
<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
<param name="Vis/FeatureType" type="string" value="$(arg feature)"/>
<param name="Vis/CorGuessWinSize" type="string" value="0"/>
<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>