Posted by
sympetrumz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-have-nice-cloudpoint-of-depth-sensor-tp9823p9857.html
May I know what changes I need to do and what is the command you run to get this result.
<?xml version="1.0"?>
<launch>
<arg name="navigation" default="true"/>
<arg name="localization" default="false"/>
<arg name="icp_odometry" default="false"/>
<arg name="rtabmap_viz" default="false"/>
<arg name="camera" default="false"/>
<arg name="lidar2d" default="false"/>
<arg name="lidar3d" default="false"/>
<arg name="lidar3d_ray_tracing" default="true"/>
<arg name="slam2d" default="true"/>
<arg name="depth_from_lidar" default="false"/>
<arg if="$(arg lidar3d)" name="cell_size" default="0.3"/>
<arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
<arg if="$(eval not lidar2d and not lidar3d)" name="lidar_args" default=""/>
<arg if="$(arg lidar2d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Odom/ScanKeyFrameThr 0.5
--Icp/MaxTranslation 1"/>
<arg if="$(arg lidar3d)" name="lidar_args" default="
--Reg/Strategy 1
--RGBD/NeighborLinkRefining true
--ICP/PM true
--Icp/PMOutlierRatio 0.7
--Icp/VoxelSize $(arg cell_size)
--Icp/MaxCorrespondenceDistance 1
--Icp/PointToPlaneGroundNormalsUp 0.9
--Icp/Iterations 10
--Icp/Epsilon 0.001
--OdomF2M/ScanSubtractRadius $(arg cell_size)
--OdomF2M/ScanMaxSize 15000
--Odom/ScanKeyFrameThr 0.5
--Grid/ClusterRadius 1
--Grid/RangeMax 20
--Grid/RayTracing $(arg lidar3d_ray_tracing)
--Grid/CellSize $(arg cell_size)
--Icp/PointToPlaneRadius 0
--Icp/PointToPlaneNormalK 10
--Icp/MaxTranslation 1"/>
<remap from="/rtabmap/grid_map" to="/map"/>
<include file="$(find rtabmap_launch)/launch/rtabmap.launch">
<arg if="$(arg localization)" name="args" value="--Reg/Force3DoF $(arg slam2d) $(arg lidar_args)" />
<arg unless="$(arg localization)" name="args" value="--Reg/Force3DoF $(arg slam2d) $(arg lidar_args) -d" />
<arg name="localization" value="$(arg localization)" />
<arg name="visual_odometry" value="true" />
<arg name="approx_sync" value="$(eval camera or not icp_odometry)" />
<arg name="imu_topic" value="/imu/data" />
<arg unless="$(arg icp_odometry)" name="odom_topic" value="/odometry/filtered" />
<arg name="frame_id" value="base_link" />
<arg name="rtabmap_viz" value="$(arg rtabmap_viz)" />
<arg name="gps_topic" value="/navsat/fix"/>
<arg name="subscribe_scan" value="$(arg lidar2d)" />
<arg if="$(arg lidar2d)" name="scan_topic" value="/front/scan" />
<arg unless="$(arg lidar2d)" name="scan_topic" value="/scan_not_used" />
<arg name="subscribe_scan_cloud" value="$(arg lidar3d)" />
<arg if="$(arg lidar3d)" name="scan_cloud_topic" value="/velodyne_points" />
<arg unless="$(arg lidar3d)" name="scan_cloud_topic" value="/scan_cloud_not_used" />
<arg name="depth" value="$(eval camera and not depth_from_lidar)" />
<arg name="subscribe_rgb" value="$(eval camera)" />
<arg name="rgbd_sync" value="$(eval camera and not depth_from_lidar)" />
<arg name="rgb_topic" value="/realsense/color/image_raw" />
<arg name="camera_info_topic" value="/realsense/color/camera_info" />
<arg name="depth_topic" value="/realsense/depth/image_rect_raw" />
<arg name="approx_rgbd_sync" value="false" />
<arg name="gen_depth" value="$(arg depth_from_lidar)" />
<arg name="gen_depth_decimation" value="4" />
<arg name="gen_depth_fill_holes_size" value="3" />
<arg name="gen_depth_fill_iterations" value="1" />
<arg name="gen_depth_fill_holes_error" value="0.3" />
<arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
<arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />
<arg if="$(arg icp_odometry)" name="vo_frame_id" value="icp_odom" />
<arg unless="$(arg slam2d)" name="wait_imu_to_init" value="true" />
<arg if="$(arg lidar3d)" name="odom_args" value="--Icp/CorrespondenceRatio 0.01"/>
</include>
<include if="$(arg navigation)" file="$(find husky_navigation)/launch/move_base.launch" />
</launch>