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ijrr.launch
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ijrr.launch
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<launch>
<!-- CMax-SLAM node -->
<node name="cmax_slam" pkg="cmax_slam" type="cmax_slam" output="screen" args="--v 0">
<!-- Topics -->
<param name="events_topic" value="/dvs/events" />
<param name="camera_info_topic" value="/dvs/camera_info" />
<!-- Objective function to be optimized -->
<param name="contrast_measure" value="0" /> <!-- 0=Variance, 1=Mean Square, etc.-->
<!-- Event warping options -->
<param name="frontend_blur_sigma" value="1.0" /> <!-- Gaussian blurring for the local CMax, in front-end -->
<param name="backend_blur_sigma" value="1.0" /> <!-- Gaussian blurring for the global CMax, in back-end -->
<param name="event_batch_size" value="100" /> <!-- Number of events in each event mini-batch -->
<!-- Event subsampling -->
<param name="frontend_event_sample_rate" value="1" /> <!-- Uniform event sampling rate, in front-end -->
<param name="backend_event_sample_rate" value="1" /> <!-- Further uniform event sampling rate, in back-end -->
<!-- FRONT-END PARAMS -->
<param name="num_events_per_packet" value="10000" /> <!-- Number of events used to estimate one angular velocity: shapes 10k, poster 50k, boxes 30k, dynamic 20k -->
<param name="dt_ang_vel" value="0.01" /> <!-- Angular velocity frequency f = 1/dt_ang_vel -->
<param name="show_local_iwe" value="true" /> <!-- Whether to publish local IWEs -->
<!-- BACK-END PARAMS -->
<!-- Sliding window settings-->
<param name="backend_time_window_size" value="0.2" /> <!-- Size of the sliding window [second] -->
<param name="backend_sliding_window_stride" value="0.1" /> <!-- Stride of the sliding window [second] -->
<!-- Trajectory settings -->
<param name="spline_degree" value="1" /> <!-- Degree of the camera spline trajectory: 1=Linear, 3=Cubic -->
<param name="dt_knots" value="0.05" /> <!-- Time gap between the control poses of the spline trajectory -->
<!-- Pano map settings -->
<param name="pano_height" value="512" /> <!-- Height of the panoramic map (pano_width = 2*pano_height) -->
<param name="backend_min_ev_rate" value="10000" /> <!-- Minimal event rate to launch the backend [ev/s] -->
<param name="max_update_times" value="200" /> <!-- Max updating times for the panoramic map (updating frequency: 20Hz -->
<param name="Y_angle" value="0.0" /> <!-- Set the starting point of the camera FOV (initial yaw) [deg] -->
<param name="gamma" value="0.75" /> <!-- Gamma correction coefficient, for better visualization -->
<!-- Visualization -->
<param name="show_pano_map" value="true" /> <!-- Whether to publish global panoramic map -->
<param name="draw_FOV" value="true" /> <!-- Whether to draw the camera FOV on the panoramic map -->
</node>
<!-- Play rosbag -->
<node pkg="rosbag" type="play" name="player" args="-d 1.0 -r 1.0 -u 10.0 /home/shuang/datasets/rpg_ijrr_dataset/shapes_rotation/events.bag" />
<!-- Visualize local motion-compensated images of warped events -->
<node name="local_iwe_view" pkg="image_view" type="image_view">
<remap from="image" to="local_iwe" />
<param name="autosize" value="false" />
</node>
<!-- Display the panoramic map using rqt_image_view -->
<node name="image_view" pkg="rqt_image_view" type="rqt_image_view" />
</launch>