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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/tests/test_odometry.launch
+10 -12
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@@ -1,18 +1,16 @@
<launch>
<!-- Arguments: "type", "nn" and "local_map" -->
<!-- Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF -->
<arg name="type" default="0" />
<!-- Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH -->
<!-- Should be 1 for float descriptor like SIFT/SURF -->
<!-- Should be 2 for binary descriptor like ORB/FREAK/BRIEF -->
<arg name="nn" default="1" />
<!-- local map size: number of unique features to keep track -->
<arg name="local_map" default="0" />
<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
-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
-->
<arg name="type" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="2000" />
<!-- TF FRAMES -->
<node pkg="tf" type="static_transform_publisher" name="base_to_camera_tf"
launch/tests/test_stereo_odometry.launch
+67
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@@ -0,0 +1,67 @@
<launch>
<!-- ODOMETRY ARGUMENTS: "type", "nn" and "local_map":
-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
-->
<arg name="type" default="6" />
<arg name="nn" default="3" />
<arg name="local_map" default="5000" />
<node pkg="camera1394stereo" type="camera1394stereo_node" name="camera1394stereo_node" output="screen" >
<param name="video_mode" value="format7_mode3" />
<param name="format7_color_coding" value="raw16" />
<param name="bayer_pattern" value="bggr" />
<param name="bayer_method" value="" />
<param name="stereo_method" value="Interlaced" />
<param name="camera_info_url_left" value="" />
<param name="camera_info_url_right" value="" />
</node>
<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
args="$(arg optical_rotate) base_link stereo_camera 100" />
<!-- Run the ROS package stereo_image_proc -->
<group ns="/stereo_camera" >
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/>
<!-- Odometry -->
<node pkg="rtabmap" type="stereo_odometry" name="stereo_odometry" output="screen">
<remap from="left/image_rect" to="left/image_rect_color"/>
<remap from="right/image_rect" to="right/image_rect_color"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<remap from="odom" to="odom_stereo"/>
<remap from="odom_local_map" to="/odom_local_map"/>
<remap from="odom_last_frame" to="/odom_last_frame"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param name="min_disparity" type="int" value="0"/>
<param name="max_disparity" type="int" value="256"/>
<param name="k" type="int" value="10"/>
<param name="window_size" type="int" value="5"/>
<param name="Odom/Type" type="string" value="$(arg type)"/>
<param name="Odom/NearestNeighbor" type="string" value="$(arg nn)"/>
<param name="Odom/LocalHistory" type="string" value="$(arg local_map)"/>
<param name="Odom/MaxDepth" type="string" value="3"/>
<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>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap)/launch/config/test_odometry.rviz"/>
</launch>