Last active
May 8, 2020 02:15
-
-
Save matlabbe/5731ce3b2bc25ec5e0295a80c9f5f671 to your computer and use it in GitHub Desktop.
Tutorial https://github.com/introlab/rtabmap/wiki/Stereo-mapping#process-a-directory-of-stereo-images-in-ros
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
<launch> | |
<!-- stereo_20Hz directory --> | |
<arg name="dir" default="$(env HOME)/Downloads/stereo_20Hz" /> | |
<!-- Choose visualization --> | |
<arg name="rviz" default="false" /> | |
<arg name="rtabmapviz" default="true" /> | |
<arg name="rate" default="20" /> | |
<arg name="ground_is_obstacle" default="false"/> | |
<arg name="align_with_ground" default="false"/> | |
<!-- Run stereo_sequence_publisher to publish synchronized images --> | |
<node name="stereo_pub" pkg="bag_tools" type="stereo_sequence_publisher.py" output="screen"> | |
<param name="image_dir_left" value="$(arg dir)/left"/> | |
<param name="image_dir_right" value="$(arg dir)/right"/> | |
<param name="file_pattern" value="*.jpg"/> | |
<param name="camera_info_file_left" value="$(arg dir)/stereo_20Hz_ros_left.yaml"/> | |
<param name="camera_info_file_right" value="$(arg dir)/stereo_20Hz_ros_right.yaml"/> | |
<param name="frequency" value="$(arg rate)"/> | |
<remap from="/stereo_camera/left/image_color" to="/stereo_camera/left/image_raw" /> | |
<remap from="/stereo_camera/right/image_color" to="/stereo_camera/right/image_raw" /> | |
<remap from="/stereo_camera/left/camera_info" to="/stereo_camera/left/camera_info" /> | |
<remap from="/stereo_camera/right/camera_info" to="/stereo_camera/right/camera_info" /> | |
</node> | |
<!-- Run the ROS package stereo_image_proc for image rectification --> | |
<group ns="/stereo_camera" > | |
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc"/> | |
</group> | |
<!-- rotate camera so z axis is up and x forward. --> | |
<arg name="pi/2" value="1.5707963267948966" /> | |
<node pkg="tf" type="static_transform_publisher" name="camera_base_link" args="0 0 0 -$(arg pi/2) 0 -$(arg pi/2) camera_link stereo_20Hz_left 100" /> | |
<include file="$(find rtabmap_ros)/launch/rtabmap.launch"> | |
<arg name="rtabmap_args" value="--delete_db_on_start --Vis/EstimationType 1 --Vis/MinInliers 15 --SURF/HessianThreshold 100 --Grid/3DGroundIsObstacle $(arg ground_is_obstacle) --Odom/AlignWithGround $(arg align_with_ground)" /> | |
<arg name="stereo" value="true" /> | |
<arg name="rviz" value="$(arg rviz)" /> | |
<arg name="rtabmapviz" value="$(arg rtabmapviz)" /> | |
</include> | |
</launch> |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment