【文件记录】用奥比中光astra pro摄像头跑rgbdslamv2

贴个launch文件记录

<!-- This file shows the most important parameters in their default settings,
     to make them easily available for beginners.
     The openni driver has to be started seperately, e.g. with "roslaunch openni_launch openni.launch" -->
<launch> 
<node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen"> 
 
<!-- Input data settings-->
 <param name="config/topic_image_mono"              value="/image_raw"/> 
 <param name="config/topic_image_depth"             value="/camera/depth/image"/> 
 <param name="config/camera_info_topic"             value="/camera/depth/camera_info"/>


<!-- <remap from="/camera/depth/camera_info" to="/camera/depth/camera_info"/>
 <remap from="/camera/rgb/camera_info" to="/camera_info"/>
-->



<param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth --> 
 
<!-- These are the default values of some important parameters --> 
<param name="config/feature_extractor_type"        value="ORB"/><!-- also available: SIFT, SIFTGPU, SURF, SURF128 (extended SURF), ORB. --> 
<param name="config/feature_detector_type"         value="ORB"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. --> 
<param name="config/detector_grid_resolution"      value="3"/><!-- detect on a 3x3 grid (to spread ORB keypoints and parallelize SIFT and SURF) --> 
<param name="config/optimizer_skip_step"           value="15"/><!-- optimize only every n-th frame -->
 <param name="config/cloud_creation_skip_step"      value="2"/>
 
<!-- subsample the images' pixels (in both, width and height), when creating the cloud (and therefore reduce memory consumption) -->
 <param name="config/backend_solver"                value="csparse"/><!-- pcg is faster and good for continuous online optimization, cholmod and csparse are better for offline optimization (without good initial guess)--> <param name="config/pose_relative_to"              value="first"/><!-- optimize only a subset of the graph: "largest_loop" = Everything from the earliest matched frame to the current one. Use "first" to optimize the full graph, "inaffected" to optimize only the frames that were matched (not those inbetween for loops) --> 
<param name="config/maximum_depth"           value="2"/> <param name="config/subscriber_queue_size"         value="20"/> 
<param name="config/min_sampled_candidates"        value="30"/><!-- Frame-to-frame comparisons to random frames (big loop closures) -->
 <param name="config/predecessor_candidates"        value="20"/><!-- Frame-to-frame comparisons to sequential frames--> 
<param name="config/neighbor_candidates"           value="20"/><!-- Frame-to-frame comparisons to graph neighbor frames--> 
<param name="config/ransac_iterations"             value="140"/> 
<param name="config/g2o_transformation_refinement"           value="1"/> 
<param name="config/icp_method"           value="icp"/> <!-- icp, gicp ... --> <!--
<param name="config/max_rotation_degree"           value="20"/>
<param name="config/max_translation_meter"           vawlue="0.5"/>
<param name="config/min_matches"           value="30"/>   
<param name="config/min_translation_meter"           value="0.05"/>
<param name="config/min_rotation_degree"           value="3"/>
<param name="config/g2o_transformation_refinement"           value="2"/>
<param name="config/min_rotation_degree"           value="10"/>
<param name="config/matcher_type"         value="SIFTGPU"/>
 --> 
</node> 
</launch>