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rgbdslam dataset

asked 2014-01-28 00:02:49 -0500

Wilk gravatar image

updated 2016-10-24 09:02:10 -0500

ngrennan gravatar image

I am using ros fuerte on ubuntu 12.04 what is the easiest way to use dataset provided here: http://vision.in.tum.de/data/datasets... I am doing as described here: http://answers.ros.org/question/9785/... but I cant see anything

Is it possible to create local map, not only global?

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answered 2014-02-04 06:58:57 -0500

Wilk gravatar image

updated 2014-02-04 07:00:38 -0500

I found somewhere on this forum a launch file, that after modifying some topics started to work. I pass below the content of launch file if sb. will need it in future. Due to lack of carma I cannot mark it as correct answer

<!-- This file demonstrates the use of SIFT features for online SLAM with a Kinect.
     The openni driver has to be started seperately -->

<launch>
  <node cwd="node" name="rgbdslam" output="log" pkg="rgbdslam" required="false" type="rgbdslam"> 
    <!-- see rgbslam_sample_config.launch for all available parameters and their default values -->
      <param name="config/topic_image_mono" value="/camera/rgb/image_color"></param>

<param name="config/topic_image_depth" value="/camera/depth/image"></param>
<param name="config/topic_points" value=""></param> <!--if empty, poincloud will be reconstructed from image and depth -->
<param name="config/camera_info_topic" value="/camera/rgb/camera_info"></param>
<param name="config/bagfile_name" value="/home/wilk/fuerte_workspace/sandbox/rgbdslam_datasets_rosbag/rgbd_dataset_freiburg2_xyz.bag"></param>
<param name="config/start_paused" value="true"></param>

      <param name="config/wide_topic" value=""></param>;
      <param name="config/wide_cloud_topic" value=""></param>;
      <param name="config/drop_async_frames" value="true"></param> <!-- Check association of depth and visual image, reject if not in sync -->
      <param name="config/feature_detector_type" value="SURF"></param><!-- If SIFTGPU is enabled in CMakeLists.txt, use SURF here -->
      <param name="config/feature_extractor_type" value="SURF"></param><!-- If SIFTGPU is enabled in CMakeLists.txt, use SURF here -->
      <param name="config/matcher_type" value="FLANN"></param> <!-- FLANN (not avail for ORB features), SIFTGPU (only for SIFTGPU detector)  or BRUTEFORCE-->
      <param name="config/max_keypoints" value="2000"></param><!-- Extract no more than this many keypoints (not honored by SIFTGPU)-->
      <param name="config/min_keypoints" value="1600"></param><!-- Extract no less than this many ... -->
      <param name="config/optimizer_skip_step" value="5"></param><!-- optimize every n-th frame -->
      <param name="config/store_pointclouds" value="true"></param> <!-- if, e.g., only trajectory is required, setting this to false saves lots of memory -->
      <param name="config/individual_cloud_out_topic" value="/rgbdslam/batch_clouds"></param>;
      <param name="/config/use_gui" value="true"></param>
    <!-- see rgbslam_sample_config.launch for all available parameters and their default values -->

  </node>
</launch>
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Comments

Note that the file contains a hard coded path to the bagfile, which needs to be adapted.

Felix Endres gravatar image Felix Endres  ( 2014-02-14 03:08:27 -0500 )edit

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Asked: 2014-01-28 00:02:49 -0500

Seen: 366 times

Last updated: Feb 04 '14