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Christian Forster
2014-03-12 16:39:58 +01:00
commit 76801f72ac
98 changed files with 14580 additions and 0 deletions
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svo_ros/launch/live.launch
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<launch>
<node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">
<param name="cam_topic" value="/camera/image_raw" type="str" />
<rosparam file="$(find rpg_calib)/cameras/bluefox_847_cfo_atan.yaml" />
<rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
<param name="map_scale" value="0.5" />
<param name="init_rx" value="3.14" />
<param name="image_publishing_level" value="0" />
<param name="publish_every_nth_img" value="1" />
<param name="accept_console_user_input" value="True" />
<param name="publish_dense_input" value="True" />
<param name="publish_every_nth_dense_input" value="5" />
</node>
<!--
<node pkg="image_view" type="image_view" name="image_svo">
<remap from="image" to="/svo/image" />
</node>
-->
</launch>
svo_ros/launch/test_rig3.launch
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<launch>
<node pkg="svo_ros" type="vo" name="svo" clear_params="true" launch-prefix="gdb -ex run --args" output="screen">
<param name="cam_topic" value="/camera/image_raw" type="str" />
<param name="cam_model" value="ATAN" type="str" />
<param name="cam_width" value="752" />
<param name="cam_height" value="480" />
<param name="cam_fx" value="0.509326" />
<param name="cam_fy" value="0.796651" />
<param name="cam_cx" value="0.459051" />
<param name="cam_cy" value="0.510056" />
<param name="cam_d0" value="0.93207" />
<param name="init_rx" value="3.14" />
<rosparam file="$(find svo_ros)/param/vo_fast.yaml" />
</node>
<node name="svo_ros_rviz" pkg="rviz" type="rviz" args=" -d $(find svo_ros)/rviz_config.rviz" />
</launch>