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Stereo: added subpixel kpts processing, added test_stereo_odometry.launch

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CoreWrapper: Fixed corrupted image when reextracting features

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1847 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-08 00:43:05 +00:00
parent 07f675b3b8
commit fcf92d90e5
9 changed files with 234 additions and 161 deletions
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launch/demo/demo_stereo.launch
+31 -57
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@@ -27,7 +27,7 @@
<node pkg="nodelet" type="nodelet" name="disparity2depth" args="load rtabmap/disparity_to_depth standalone_nodelet"/>
</group>
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade packages -->
<!-- Odometry: Choose between viso2_ros, fovis_ros and homemade approach (default) -->
<!--
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="/stereo_camera"/>
@@ -37,6 +37,7 @@
<param name="ref_frame_change_method" value="1"/>
</node>
-->
<!--
<node pkg="fovis_ros" type="fovis_stereo_odometer" name="stereo_odometer" >
<remap from="/stereo/left/image" to="/stereo_camera/left/image_rect" />
<remap from="/stereo/right/image" to="/stereo_camera/right/image_rect" />
@@ -44,60 +45,26 @@
<remap from="/stereo/right/camera_info" to="/stereo_camera/right/camera_info" />
<remap from="odometry" to="stereo_odometer/odometry" />
</node>
<!--
<node pkg="rtabmap" type="visual_odometry" name="visual_odometry" output="screen">
<remap from="rgb/image" to="stereo_camera/left/image_rect_color"/>
<remap from="depth/image" to="stereo_camera/depth"/>
<remap from="rgb/camera_info" to="stereo_camera/left/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="/base_link"/>
<param name="Odom/Type" type="string" value="6"/>
-->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometer" output="screen">
<remap from="left/image_rect" to="/stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="/stereo_camera/right/image_rect_color"/>
<remap from="left/camera_info" to="/stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="/stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="Odom/Type" type="string" value="6"/>
<param name="Odom/NearestNeighbor" type="string" value="3"/>
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/LocalHistory" type="string" value="500"/>
<param name="Odom/MaxDepth" type="string" value="3"/>
<param name="Odom/NNDR" type="string" value="0.8"/>
<param name="Odom/WordsRatio" type="string" value="0.5"/>
<param name="Odom/LocalHistory" type="string" value="1000"/>
<param name="Odom/InlierDistance" type="string" value="0.01"/>
<param name="GFTT/MaxCorners" type="string" value="400"/>
<param name="Odom/NNDR" type="string" value="0.6"/>
<param name="GFTT/MaxCorners" type="string" value="1000"/>
<param name="BRIEF/Bytes" type="string" value="16"/>
</node>
-->
<!--
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="stereo_camera/left/image_rect_color"/>
<remap from="right/image_rect" to="stereo_camera/right/image_rect_color"/>
<remap from="left/camera_info" to="stereo_camera/left/camera_info"/>
<remap from="right/camera_info" to="stereo_camera/right/camera_info"/>
<remap from="odom" to="/stereo_odometer/odometry"/>
<param name="frame_id" type="string" value="/base_link"/>
<param name="min_disparity" type="int" value="0"/>
<param name="max_disparity" type="int" value="128"/>
<param name="k" type="int" value="10"/>
<param name="Odom/Type" type="string" value="6"/>
<param name="Odom/NearestNeighbor" type="string" value="3"/>
<param name="Odom/MinInliers" type="string" value="10"/>
<param name="Odom/Iterations" type="string" value="200"/>
<param name="Odom/MaxDepth" type="string" value="4"/>
<param name="Odom/NNDR" type="string" value="0.8"/>
<param name="Odom/WordsRatio" type="string" value="0.5"/>
<param name="Odom/LocalHistory" type="string" value="200"/>
<param name="Odom/InlierDistance" type="string" value="0.01"/>
<param name="GFTT/MaxCorners" type="string" value="800"/>
<param name="BRIEF/Bytes" type="string" value="16"/>
<param name="BRISK/Octaves" type="string" value="0"/>
<param name="BRISK/Thresh" type="string" value="10"/>
</node>
-->
<group ns="rtabmap">
</node>
<group ns="rtabmap">
<!-- Visual SLAM (robot side) -->
<!-- args: "delete_db_on_start" and "udebug" -->
<node name="rtabmap" pkg="rtabmap" type="rtabmap" output="screen" args="--delete_db_on_start">
@@ -117,11 +84,18 @@
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Rtabmap/DetectionRate" type="string" value="1"/>
<param name="SURF/HessianThreshold" type="string" value="600"/>
<param name="LccBow/MaxDepth" type="string" value="0"/>
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="false"/>
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="0.05"/>
<param name="LccBow/InlierDistance" type="string" value="0.02"/>
<param name="LccBow/MaxDepth" type="string" value="3"/>
<param name="LccReextract/FeatureType" type="string" value="4"/>
<param name="LccReextract/LoopClosureFeatures" type="string" value="true"/>
<param name="LccReextract/MaxDepth" type="string" value="3"/>
<param name="LccReextract/NNDR" type="string" value="0.8"/>
<param name="LccReextract/NNType" type="string" value="3"/>
</node>
<!-- Visualisation (client side) -->
@@ -138,9 +112,9 @@
</node>
</group>
<!-- RVIZ -->
<!--
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/rgbd.rviz"/>
<!-- 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">
<remap from="rgb/image_in" to="camera/rgb/image_rect_color"/>
@@ -164,5 +138,5 @@
<param name="queue_size" type="int" value="10"/>
<param name="voxel_size" type="double" value="0.01"/>
</node>
-->
</launch>