root / rgbdslam / launch / iros_demo.launch @ 9240aaa3
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<!-- This file demonstrates the parameters that can be set via the parameter server. |
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The settings here typically show the default values (c.f. parameter_server.cpp) |
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This file strives to enlist all possibilities, to be a good copy-paste source. |
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In general most options/tags don't need to be altered/used--> |
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<launch> |
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<include file="$(find openni_camera)/launch/openni_node.launch"/> |
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<env name="ROSCONSOLE_CONFIG_FILE" value="$(find rgbdslam)/log.conf"/> |
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<env name="ROSCONSOLE_FORMAT" value="[${severity}] [${time}]: ${message}"/> |
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<arg name="debug" default="false"/> |
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<!-- Several possibilities to debug --> |
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<!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/gdb -ex run -args"/--> |
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<arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/xterm -rv -e gdb -ex run -args"/> |
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<!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/valgrind -DELeTEME-tool=cachegrind -DELETEME-cachegrind-out-file=/tmp/cachegrind.out"/--> |
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<!--arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/valgrind -DELETEME-leak-check=full "/--> |
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<arg unless="$(arg debug)" name="launch_prefix" value=""/> |
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|
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<node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen" launch-prefix="$(arg launch_prefix)"> |
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<!-- Input data settings--> |
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<param name="config/topic_image_mono" value="/camera/rgb/image_color"/> <!--could also be color --> |
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<param name="config/topic_image_depth" value="/camera/depth/image"/> |
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<param name="config/topic_points" value="/camera/rgb/points"/> <!--if empty, poincloud will be reconstructed from image and depth --> |
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<param name="config/camera_info_topic" value="/camera/rgb/camera_info"/> |
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<param name="config/subscriber_queue_size" value="2"/> |
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<param name="config/drop_async_frames" value="true"/> <!-- Check association of depth and visual image, reject if not in sync --> |
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<param name="config/depth_scaling_factor" value="1.0"/> <!-- to correct bad depth scaling of kinect --> |
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<!-- TF information settings --> |
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<param name="config/fixed_frame_name" value="/map"/> |
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<param name="config/ground_truth_frame_name" value=""/><!--empty string if no ground truth--> |
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<param name="config/base_frame_name" value="/openni_camera"/> <!-- /openni_camera for hand-held kinect. For robot, e.g., /base_link --> |
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<param name="config/fixed_camera" value="true"/> <!--is the kinect fixed with respect to base, or can it be moved (false makes sense only if transform betw. base_frame and openni_camera is sent via tf)--> |
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<!-- Visual Features, to activate GPU-based features see CMakeLists.txt --> |
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<param name="config/feature_detector_type" value="SURF"/><!-- If SIFTGPU is enabled in CMakeLists.txt --> |
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<param name="config/feature_extractor_type" value="SURF"/><!-- If SIFTGPU is enabled in CMakeLists.txt --> |
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<param name="config/max_keypoints" value="1500"/><!-- Extract no more than this many keypoints (not honored by SIFTGPU)--> |
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<param name="config/min_keypoints" value="1000"/><!-- Extract no less than this many ... --> |
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<param name="config/surf_max_iterations" value="3"/> |
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<!-- Algortithm settings --> |
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<param name="config/min_translation_meter" value="0.1"/><!-- frames with motion less than this, will be omitted --> |
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<param name="config/min_rotation_degree" value="5"/><!-- frames with motion less than this, will be omitted --> |
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<param name="config/connectivity" value="15"/> <!-- compare to how many nodes? 0: always to previous and to root node, -1: only to previous--> |
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<param name="config/max_connections" value="8"/><!-- stop after this many succesfully found spation relations --> |
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<param name="config/min_matches" value="50"/><!-- Prune unreliable transformations from too few feature matches --> |
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<param name="config/ransac_iterations" value="5000"/><!-- these are fast --> |
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<param name="config/max_dist_for_inliers" value="0.03"/> <!--matches considered inliers by ransac--> |
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<param name="config/use_flann" value="true"/> <!-- flann (not avail for ORB) or bruteforcematching --> |
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<param name="config/optimizer_iterations" value="2"/><!-- maximum of iterations in online operation (i.e., does not affect the final optimization in batch mode --> |
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<param name="config/optimizer_skip_step" value="1"/><!-- optimize every n-th frame --> |
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|
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<!-- Visualization Settings --> |
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<param name="config/squared_meshing_threshold" value="0.0009"/><!-- don't triangulate over depth jumps --> |
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<param name="config/use_glwidget" value="true"/><!-- 3D visualization needs performance --> |
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<param name="config/use_gui" value="true"/><!-- No visualization, e.g., on robot --> |
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<param name="config/visualization_skip_step" value="3"/> <!-- draw only every nth pointcloud row and line --> |
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<param name="config/show_axis" value="true"/> <!-- do/don't visualize the sensor position --> |
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<!-- Misc --> |
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<param name="config/voxelfilter_size" value="-1.0"/> <!-- in meter voxefilter displayed and stored pointclouds, incompatible with use_glwidget=true. Set negative to disable--> |
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<param name="config/individual_cloud_out_topic" value="/rgbdslam/batch_clouds"/>; |
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<param name="config/aggregate_cloud_out_topic" value="/rgbdslam/aggregate_clouds"/>; |
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<param name="config/publisher_queue_size" value="1"/> |
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<param name="config/preserve_raster_on_save" value="false"/> |
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<param name="config/min_time_reported" value="0.1"/><!-- for easy runtime analysis --> |
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<param name="config/start_paused" value="false"/> |
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<param name="config/store_pointclouds" value="false"/> <!-- if, e.g., only trajectory is required, setting this to false saves lots of memory --> |
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<param name="config/bagfile_name" value=""/><!-- read data from a bagfile, make sure to enter the right topics above--> |
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<param name="config/batch_processing" value="false"/> <!--store results and close after bagfile has been processed--> |
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<param name="config/data_skip_step" value="1"/><!-- skip every n-th frame completely --> |
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</node> |
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</launch> |