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Updated main launch files for 0.11

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matlabbe
2016-03-11 16:57:49 -05:00
parent af87689718
commit fdbac13a77
4 changed files with 63 additions and 61 deletions
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launch/rgbd_mapping_kinect2.launch
+10 -10
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@@ -30,7 +30,7 @@
<arg name="rviz_cfg" default="-d $(find rtabmap_ros)/launch/config/rgbd.rviz" />
<!-- ODOMETRY MAIN ARGUMENTS:
-"strategy" : Strategy: 0=BOW (bag-of-words) 1=Optical Flow
-"strategy" : Strategy: Frame-to-Map 1=Frame-To-Frame
-"feature" : Feature type: 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK
-"nn" : Nearest neighbor strategy : 0=Linear, 1=FLANN_KDTREE, 2=FLANN_LSH, 3=BRUTEFORCE
Set to 1 for float descriptor like SIFT/SURF
@@ -63,14 +63,14 @@
<param name="approx_sync" type="bool" value="true"/>
<param name="Odom/Strategy" type="string" value="$(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="Vis/FeatureType" type="string" value="$(arg feature)"/>
<param name="Vis/CorNNType" type="string" value="$(arg nn)"/>
<param name="Vis/MaxDepth" type="string" value="$(arg max_depth)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="OdomF2M/MaxSize" type="string" value="$(arg local_map)"/>
<param name="Odom/FillInfoData" type="string" value="$(arg rtabmapviz)"/>
<param name="Odom/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
<param name="Vis/MaxFeatures" type="string" value="$(arg gftt_max_corners)"/>
<param name="GFTT/MinDistance" type="string" value="$(arg gftt_min_distance)"/>
</node>
@@ -86,8 +86,8 @@
<param name="approx_sync" type="bool" value="true"/>
<param name="LccBow/MinInliers" type="string" value="10"/>
<param name="LccBow/InlierDistance" type="string" value="$(arg inlier_distance)"/>
<param name="Vis/MinInliers" type="string" value="$(arg min_inliers)"/>
<param name="Vis/InlierDistance" type="string" value="$(arg inlier_distance)"/>
</node>
<!-- Visualisation RTAB-Map -->