feat(slam): add rtabmap_ros
This commit is contained in:
X-lanni
@@ -0,0 +1,496 @@
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Panels:
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- Class: rviz_common/Displays
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Help Height: 0
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 355
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- Class: rviz_common/Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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Expanded:
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- /2D Goal Pose1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: MapCloud
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz_default_plugins/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 0.699999988079071
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Class: rviz_default_plugins/Map
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Color Scheme: map
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Draw Behind: false
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Enabled: true
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Name: Map
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map
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Update Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map_updates
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Use Timestamp: false
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Value: true
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- Class: rviz_default_plugins/TF
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Enabled: true
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Frame Timeout: 15
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Frames:
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All Enabled: true
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base_footprint:
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Value: true
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base_link:
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Value: true
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camera_accel_frame:
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Value: true
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camera_accel_optical_frame:
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Value: true
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camera_color_frame:
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Value: true
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camera_color_optical_frame:
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Value: true
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camera_depth_frame:
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Value: true
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camera_depth_optical_frame:
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Value: true
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camera_gyro_frame:
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Value: true
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camera_gyro_optical_frame:
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Value: true
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camera_ir_frame:
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Value: true
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camera_ir_optical_frame:
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Value: true
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camera_link:
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Value: true
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laser_link:
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Value: true
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left_front_wheel_link:
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Value: true
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left_rear_wheel_link:
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Value: true
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map:
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Value: true
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odom:
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Value: true
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right_front_wheel_link:
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Value: true
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right_rear_wheel_link:
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Value: true
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: false
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Tree:
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map:
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odom:
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base_footprint:
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base_link:
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camera_link:
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camera_depth_frame:
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camera_accel_frame:
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camera_accel_optical_frame:
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{}
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camera_color_frame:
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camera_color_optical_frame:
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{}
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camera_depth_optical_frame:
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{}
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camera_gyro_frame:
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camera_gyro_optical_frame:
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{}
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camera_ir_frame:
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camera_ir_optical_frame:
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{}
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laser_link:
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{}
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left_front_wheel_link:
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{}
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left_rear_wheel_link:
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{}
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right_front_wheel_link:
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{}
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right_rear_wheel_link:
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{}
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Update Interval: 0
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/LaserScan
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Color: 237; 51; 59
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 231
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Min Color: 0; 0; 0
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Min Intensity: 6
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Name: LaserScan
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /scan
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rtabmap_rviz_plugins/MapCloud
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Cloud decimation: 4
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Cloud from scan: false
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Cloud max depth (m): 4
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Cloud min depth (m): 0
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Cloud voxel size (m): 0.009999999776482582
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Color: 255; 255; 255
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Color Transformer: RGB8
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Download graph: false
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Download map: false
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Download namespace: rtabmap
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Enabled: true
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Filter ceiling (m): 0
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Filter floor (m): 0
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: MapCloud
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Node filtering angle (degrees): 30
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Node filtering radius (m): 0
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Position Transformer: XYZ
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /mapData
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Class: rtabmap_rviz_plugins/MapGraph
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Enabled: true
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Global loop closure: 255; 0; 0
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Landmark: 0; 128; 0
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Local loop closure: 255; 255; 0
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Merged neighbor: 255; 170; 0
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Name: MapGraph
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Neighbor: 0; 0; 255
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /mapGraph
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User: 255; 0; 0
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Value: true
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Virtual: 255; 0; 255
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- Class: rviz_common/Group
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Displays:
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 0; 255; 0
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Current Frame
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odom_last_frame
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 0; 255; 0
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Color Transformer: RGB8
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: Local Feature Map
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.009999999776482582
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Style: Points
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||||
Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /odom_local_map
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Name: VO
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- Alpha: 1
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Class: rviz_default_plugins/RobotModel
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Collision Enabled: false
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Description File: ""
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Description Source: Topic
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Description Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /robot_description
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_footprint:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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laser_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_front_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_rear_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_front_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_rear_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Mass Properties:
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Inertia: false
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Mass: false
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Name: RobotModel
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz_default_plugins/Image
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Enabled: true
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||||
Max Value: 1
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||||
Median window: 5
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||||
Min Value: 0
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||||
Name: Image
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||||
Normalize Range: true
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||||
Topic:
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||||
Depth: 5
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||||
Durability Policy: Volatile
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||||
History Policy: Keep Last
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||||
Reliability Policy: Reliable
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||||
Value: /camera/color/image_raw
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||||
Value: true
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||||
- Class: rviz_default_plugins/Image
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||||
Enabled: true
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||||
Max Value: 1
|
||||
Median window: 5
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||||
Min Value: 0
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||||
Name: Image
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||||
Normalize Range: true
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||||
Topic:
|
||||
Depth: 5
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||||
Durability Policy: Volatile
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||||
History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /camera/depth/image_raw
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: map
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz_default_plugins/Interact
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||||
Hide Inactive Objects: true
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||||
- Class: rviz_default_plugins/MoveCamera
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||||
- Class: rviz_default_plugins/Select
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- Class: rviz_default_plugins/FocusCamera
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||||
- Class: rviz_default_plugins/Measure
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Line color: 128; 128; 0
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||||
- Class: rviz_default_plugins/SetInitialPose
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Covariance x: 0.25
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||||
Covariance y: 0.25
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||||
Covariance yaw: 0.06853891909122467
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||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /initialpose
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||||
- Class: rviz_default_plugins/SetGoal
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||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /goal_pose
|
||||
- Class: rviz_default_plugins/PublishPoint
|
||||
Single click: true
|
||||
Topic:
|
||||
Depth: 5
|
||||
Durability Policy: Volatile
|
||||
History Policy: Keep Last
|
||||
Reliability Policy: Reliable
|
||||
Value: /clicked_point
|
||||
Transformation:
|
||||
Current:
|
||||
Class: rviz_default_plugins/TF
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz_default_plugins/Orbit
|
||||
Distance: 3.969904899597168
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0.30078303813934326
|
||||
Y: -0.3047744929790497
|
||||
Z: -2.0372681319713593e-08
|
||||
Focal Shape Fixed Size: false
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.7953978776931763
|
||||
Target Frame: base_footprint
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 3.9203996658325195
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 921
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: true
|
||||
Image:
|
||||
collapsed: false
|
||||
QMainWindow State: 000000ff00000000fd000000040000000000000156000002fbfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001a0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000001e30000008e0000002800fffffffb0000000a0049006d0061006700650100000277000000c10000002800ffffff000000010000010f000002fbfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002fb000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006590000003efc0100000002fb0000000800540069006d0065010000000000000659000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004fd000002fb00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: true
|
||||
Width: 1625
|
||||
X: 176
|
||||
Y: 77
|
||||
@@ -0,0 +1,188 @@
|
||||
[General]
|
||||
windowGeometry=@ByteArray(\x1\xd9\xd0\xcb\0\x3\0\0\0\0\x4\x34\0\0\x1\x8e\0\0\x6\x9a\0\0\x4\x5\0\0\x4\x34\0\0\x1\xb3\0\0\x6\x9a\0\0\x4\x5\0\0\0\0\0\0\0\0\a\x80\0\0\x4\x34\0\0\x1\xb3\0\0\x6\x9a\0\0\x4\x5)
|
||||
windowState=@ByteArray(\0\0\0\xff\0\0\0\0\xfd\0\0\0\x3\0\0\0\0\0\0\0\xda\0\0\x2'\xfc\x2\0\0\0\x1\xfb\0\0\0$\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0o\0\x62\0j\0\x65\0\x63\0t\0s\x1\0\0\0\x16\0\0\x2'\0\0\0\xc4\0\xff\xff\xff\0\0\0\x1\0\0\x1h\0\0\x1\x86\xfc\x2\0\0\0\x2\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0\x61\0r\0\x61\0m\0\x65\0t\0\x65\0r\0s\0\0\0\0\x16\0\0\x1\x86\0\0\0\xa8\0\xff\xff\xff\xfb\0\0\0*\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0s\0t\0\x61\0t\0i\0s\0t\0i\0\x63\0s\0\0\0\0\0\xff\xff\xff\xff\0\0\x1\x35\0\xff\xff\xff\0\0\0\x3\0\0\0\0\0\0\0\0\xfc\x1\0\0\0\x1\xfb\0\0\0\x1e\0\x64\0o\0\x63\0k\0W\0i\0\x64\0g\0\x65\0t\0_\0p\0l\0o\0t\0\0\0\0\0\xff\xff\xff\xff\0\0\0\x87\0\xff\xff\xff\0\0\x1\x87\0\0\x2'\0\0\0\x4\0\0\0\x4\0\0\0\b\0\0\0\b\xfc\0\0\0\0)
|
||||
|
||||
[Camera]
|
||||
1deviceId=0
|
||||
2imageWidth=640
|
||||
3imageHeight=480
|
||||
4imageRate=0
|
||||
5mediaPath=
|
||||
6useTcpCamera=false
|
||||
7IP=127.0.0.1
|
||||
8port=5000
|
||||
9queueSize=1
|
||||
|
||||
[Feature2D]
|
||||
1Detector="5:Dense;Fast;GFTT;MSER;ORB;SIFT;Star;SURF;BRISK;AGAST;KAZE;AKAZE;SuperPointTorch"
|
||||
2Descriptor="2:Brief;ORB;SIFT;SURF;BRISK;FREAK;KAZE;AKAZE;LUCID;LATCH;DAISY;SuperPointTorch"
|
||||
3MaxFeatures=0
|
||||
4Affine=false
|
||||
5AffineCount=6
|
||||
6SubPix=false
|
||||
7SubPixWinSize=3
|
||||
8SubPixIterations=30
|
||||
9SubPixEps=0.02
|
||||
AGAST_nonmaxSuppression=true
|
||||
AGAST_threshold=10
|
||||
AKAZE_descriptorChannels=3
|
||||
AKAZE_descriptorSize=0
|
||||
AKAZE_nOctaveLayers=4
|
||||
AKAZE_nOctaves=4
|
||||
AKAZE_threshold=0.001
|
||||
BRISK_octaves=3
|
||||
BRISK_patternScale=1
|
||||
BRISK_thresh=30
|
||||
Brief_bytes=32
|
||||
DAISY_interpolation=true
|
||||
DAISY_q_hist=8
|
||||
DAISY_q_radius=3
|
||||
DAISY_q_theta=8
|
||||
DAISY_radius=15
|
||||
DAISY_use_orientation=false
|
||||
Dense_featureScaleLevels=1
|
||||
Dense_featureScaleMul=0.1
|
||||
Dense_initFeatureScale=1
|
||||
Dense_initImgBound=0
|
||||
Dense_initXyStep=6
|
||||
Dense_varyImgBoundWithScale=false
|
||||
Dense_varyXyStepWithScale=true
|
||||
FREAK_nOctaves=4
|
||||
FREAK_orientationNormalized=true
|
||||
FREAK_patternScale=22
|
||||
FREAK_scaleNormalized=true
|
||||
Fast_gpu=false
|
||||
Fast_keypointsRatio=0.05
|
||||
Fast_maxNpoints=5000
|
||||
Fast_nonmaxSuppression=true
|
||||
Fast_threshold=10
|
||||
GFTT_blockSize=3
|
||||
GFTT_k=0.04
|
||||
GFTT_maxCorners=1000
|
||||
GFTT_minDistance=1
|
||||
GFTT_qualityLevel=0.01
|
||||
GFTT_useHarrisDetector=false
|
||||
KAZE_extended=false
|
||||
KAZE_nOctaveLayers=4
|
||||
KAZE_nOctaves=4
|
||||
KAZE_threshold=0.001
|
||||
KAZE_upright=false
|
||||
LATCH_bytes=32
|
||||
LATCH_half_ssd_size=3
|
||||
LATCH_rotationInvariance=true
|
||||
LUCID_blur_kernel=2
|
||||
LUCID_kernel=1
|
||||
MSER_areaThreshold=1.01
|
||||
MSER_delta=5
|
||||
MSER_edgeBlurSize=5
|
||||
MSER_maxArea=14400
|
||||
MSER_maxEvolution=200
|
||||
MSER_maxVariation=0.25
|
||||
MSER_minArea=60
|
||||
MSER_minDiversity=0.2
|
||||
MSER_minMargin=0.003
|
||||
ORB_WTA_K=2
|
||||
ORB_blurForDescriptor=false
|
||||
ORB_edgeThreshold=31
|
||||
ORB_firstLevel=0
|
||||
ORB_gpu=false
|
||||
ORB_nFeatures=500
|
||||
ORB_nLevels=8
|
||||
ORB_patchSize=31
|
||||
ORB_scaleFactor=1.2
|
||||
ORB_scoreType=0
|
||||
SIFT_contrastThreshold=0.04
|
||||
SIFT_edgeThreshold=10
|
||||
SIFT_nOctaveLayers=3
|
||||
SIFT_nfeatures=0
|
||||
SIFT_rootSIFT=false
|
||||
SIFT_sigma=1.6
|
||||
SURF_extended=true
|
||||
SURF_gpu=false
|
||||
SURF_hessianThreshold=600
|
||||
SURF_keypointsRatio=0.01
|
||||
SURF_nOctaveLayers=2
|
||||
SURF_nOctaves=4
|
||||
SURF_upright=false
|
||||
Star_lineThresholdBinarized=8
|
||||
Star_lineThresholdProjected=10
|
||||
Star_maxSize=45
|
||||
Star_responseThreshold=30
|
||||
Star_suppressNonmaxSize=5
|
||||
SuperPointTorch_NMS=true
|
||||
SuperPointTorch_NMS_radius=4
|
||||
SuperPointTorch_cuda=false
|
||||
SuperPointTorch_modelPath=
|
||||
SuperPointTorch_threshold=0.2
|
||||
|
||||
[%General]
|
||||
autoPauseOnDetection=false
|
||||
autoScreenshotPath=
|
||||
autoScroll=true
|
||||
autoStartCamera=false
|
||||
autoUpdateObjects=true
|
||||
controlsShown=false
|
||||
debug=false
|
||||
imageFormats=*.png *.jpg *.bmp *.tiff *.ppm
|
||||
invertedSearch=true
|
||||
mirrorView=false
|
||||
multiDetection=false
|
||||
multiDetectionRadius=30
|
||||
nextObjID=9
|
||||
port=0
|
||||
sendNoObjDetectedEvents=false
|
||||
threads=1
|
||||
videoFormats=*.avi *.m4v *.mp4
|
||||
vocabularyFixed=false
|
||||
vocabularyIncremental=false
|
||||
vocabularyUpdateMinWords=2000
|
||||
|
||||
[Homography]
|
||||
allCornersVisible=false
|
||||
confidence=0.995
|
||||
homographyComputed=true
|
||||
ignoreWhenAllInliers=false
|
||||
maxIterations=2000
|
||||
method="1:LMEDS;RANSAC;RHO"
|
||||
minAngle=50
|
||||
minimumInliers=10
|
||||
opticalFlow=false
|
||||
opticalFlowEps=0.01
|
||||
opticalFlowIterations=30
|
||||
opticalFlowMaxLevel=3
|
||||
opticalFlowWinSize=16
|
||||
ransacReprojThr=5
|
||||
rectBorderWidth=4
|
||||
|
||||
[NearestNeighbor]
|
||||
1Strategy="1:Linear;KDTree;KMeans;Composite;Autotuned;Lsh;BruteForce"
|
||||
2Distance_type="0:EUCLIDEAN_L2;MANHATTAN_L1;MINKOWSKI;MAX;HIST_INTERSECT;HELLINGER;CHI_SQUARE_CS;KULLBACK_LEIBLER_KL;HAMMING"
|
||||
3nndrRatioUsed=true
|
||||
4nndrRatio=0.8
|
||||
5minDistanceUsed=false
|
||||
6minDistance=1.6
|
||||
7ConvertBinToFloat=false
|
||||
7search_checks=32
|
||||
8search_eps=0
|
||||
9search_sorted=true
|
||||
Autotuned_build_weight=0.01
|
||||
Autotuned_memory_weight=0
|
||||
Autotuned_sample_fraction=0.1
|
||||
Autotuned_target_precision=0.8
|
||||
BruteForce_gpu=false
|
||||
Composite_branching=32
|
||||
Composite_cb_index=0.2
|
||||
Composite_centers_init="0:RANDOM;GONZALES;KMEANSPP"
|
||||
Composite_iterations=11
|
||||
Composite_trees=4
|
||||
KDTree_trees=4
|
||||
KMeans_branching=32
|
||||
KMeans_cb_index=0.2
|
||||
KMeans_centers_init="0:RANDOM;GONZALES;KMEANSPP"
|
||||
KMeans_iterations=11
|
||||
Lsh_key_size=20
|
||||
Lsh_multi_probe_level=2
|
||||
Lsh_table_number=12
|
||||
search_checks=32
|
||||
search_eps=0
|
||||
search_sorted=true
|
||||
Reference in New Issue
Block a user