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added live toggle for photometric

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This commit is contained in:
Raphael Maenle
2019-06-25 19:05:53 +02:00
parent 6f7f8b7892
commit 1d6100ed13
5 changed files with 55 additions and 33 deletions
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10
launch/msckf_vio_euroc.launch
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@@ -17,6 +17,16 @@
args='standalone msckf_vio/MsckfVioNodelet'
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="false"/>
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="5"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>

17
launch/msckf_vio_tinytum.launch
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@@ -6,7 +6,7 @@
default="$(find msckf_vio)/config/camchain-imucam-tum-scaled.yaml"/>
<!-- Image Processor Nodelet -->
<include file="$(find msckf_vio)/launch/image_processor_tum.launch">
<include file="$(find msckf_vio)/launch/image_processor_tinytum.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="calibration_file" value="$(arg calibration_file)"/>
</include>
@@ -18,14 +18,14 @@
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="true"/>
<param name="PHOTOMETRIC" value="false"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>
<param name="PrintImages" value="true"/>
<param name="StreamPause" value="false"/>
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>
<param name="patch_size_n" value="5"/>
<param name="patch_size_n" value="7"/>
<!-- Calibration parameters -->
<rosparam command="load" file="$(arg calibration_file)"/>
@@ -64,16 +64,13 @@
<remap from="~imu" to="/imu0"/>
<remap from="~ground_truth" to="/vrpn_client/raw_transform"/>
<remap from="~cam0_image" to="/cam0/new_image_raw"/>
<remap from="~cam1_image" to="/cam1/new_image_raw"/>
<remap from="~cam0_image" to="/cam0/image_raw"/>
<remap from="~cam1_image" to="/cam1/image_raw"/>
<remap from="~features" to="image_processor/features"/>
</node>
</group>
<node name="scaler" pkg="msckf_vio" type="shrinkImage.py"/>
<node name="player" pkg="bagcontrol" type="control.py" />
</launch>

4
launch/msckf_vio_tum.launch
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@@ -18,10 +18,10 @@
output="screen">
<!-- Photometry Flag-->
<param name="PHOTOMETRIC" value="false"/>
<param name="PHOTOMETRIC" value="true"/>
<!-- Debugging Flaggs -->
<param name="StreamPause" value="true"/>
<param name="StreamPause" value="false"/>
<param name="PrintImages" value="false"/>
<param name="GroundTruth" value="false"/>