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fixed gray point cloud generated from point_cloud_xyzrgb nodelet, updated rgbd_mapping.launch with image topic arguments

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matlabbe
2015-07-17 17:00:40 -04:00
parent 622d55c32a
commit eddf7a757d
2 changed files with 45 additions and 38 deletions
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launch/rgbd_mapping.launch
+44 -37
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@@ -6,11 +6,18 @@
<!-- See "delete_db_on_start" option below... -->
<!-- Choose visualization -->
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<arg name="rviz" default="false" />
<arg name="rtabmapviz" default="true" />
<!-- Fixed frame id, you may set "base_link" or "base_footprint" if they are published -->
<arg name="frame_id" default="camera_link"/>
<arg name="frame_id" default="camera_link"/>
<!-- Image topics input -->
<arg name="rgb_topic" default="/camera/rgb/image_rect_color" />
<arg name="depth_registered_topic" default="/camera/depth_registered/image_raw" />
<arg name="camera_info_topic" default="/camera/rgb/camera_info" />
<arg name="namespace" default="rtabmap"/>
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
@@ -24,43 +31,43 @@
-"local_map" : Local map size: number of unique features to keep track
-"odom_info_data" : Fill odometry info messages with inliers/outliers data.
-->
<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" />
<arg name="odom_info_data" default="true" />
<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" />
<arg name="odom_info_data" default="true" />
<group ns="rtabmap">
<group ns="$(arg namespace)">
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="Odom/Strategy" type="string" value="$(arg strategy)"/>
<param name="Odom/FeatureType" type="string" value="$(arg feature)"/>
<param name="OdomBow/NNType" type="string" value="$(arg nn)"/>
<param name="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="$(arg inlier_distance)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<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="$(arg nn)"/>
<param name="Odom/MaxDepth" type="string" value="$(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="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg odom_info_data)"/>
</node>
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
@@ -68,13 +75,13 @@
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="$(arg odom_info_data)"/>
<param name="frame_id" type="string" value="$(arg frame_id)"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="rgb/image" to="$(arg rgb_topic)"/>
<remap from="depth/image" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
</node>
</group>
@@ -84,9 +91,9 @@
<!-- sync cloud with odometry and voxelize the point cloud (for fast visualization in rviz) -->
<node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node if="$(arg rviz)" 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/rgb/camera_info"/>
<remap from="rgb/image_in" to="$(arg rgb_topic)"/>
<remap from="depth/image_in" to="$(arg depth_registered_topic)"/>
<remap from="rgb/camera_info_in" to="$(arg camera_info_topic)"/>
<remap from="odom_in" to="rtabmap/odom"/>
<remap from="rgb/image_out" to="data_odom_sync/image"/>
src/nodelets/point_cloud_xyzrgb.cpp
+1 -1
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@@ -171,7 +171,7 @@ private:
if(cloudPub_.getNumSubscribers())
{
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image, image->encoding.compare(sensor_msgs::image_encodings::TYPE_8UC1)==0?"":"mono8");
cv_bridge::CvImageConstPtr imagePtr = cv_bridge::toCvShare(image);
cv_bridge::CvImageConstPtr imageDepthPtr = cv_bridge::toCvShare(imageDepth);
image_geometry::PinholeCameraModel model;