From a98e183af86202a858941c864652a3c2165c5ef3 Mon Sep 17 00:00:00 2001
From: Mike Xiangyu Liu <xiangyu002@e.ntu.edu.sg>
Date: Thu, 13 Aug 2020 15:49:42 +0800
Subject: [PATCH] added TUM2 launch and config file

---
 orb_slam2/config/TUM2.yaml            | 68 +++++++++++++++++++++++++++
 ros/launch/orb_slam2_tum2_rgbd.launch | 23 +++++++++
 2 files changed, 91 insertions(+)
 create mode 100644 orb_slam2/config/TUM2.yaml
 create mode 100644 ros/launch/orb_slam2_tum2_rgbd.launch

diff --git a/orb_slam2/config/TUM2.yaml b/orb_slam2/config/TUM2.yaml
new file mode 100644
index 00000000..4f471f48
--- /dev/null
+++ b/orb_slam2/config/TUM2.yaml
@@ -0,0 +1,68 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera.fx: 535.4
+Camera.fy: 539.2
+Camera.cx: 320.1
+Camera.cy: 247.6
+
+Camera.k1: 0.0
+Camera.k2: 0.0
+Camera.p1: 0.0
+Camera.p2: 0.0
+
+Camera.width: 640
+Camera.height: 480
+
+# Camera frames per second 
+Camera.fps: 30.0
+
+# IR projector baseline times fx (aprox.)
+Camera.bf: 40.0
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 0
+
+# Close/Far threshold. Baseline times.
+ThDepth: 40.0
+
+# Deptmap values factor
+DepthMapFactor: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 1000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#--------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize:2
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3
+Viewer.ViewpointX: 0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500
diff --git a/ros/launch/orb_slam2_tum2_rgbd.launch b/ros/launch/orb_slam2_tum2_rgbd.launch
new file mode 100644
index 00000000..b5a9ef14
--- /dev/null
+++ b/ros/launch/orb_slam2_tum2_rgbd.launch
@@ -0,0 +1,23 @@
+<launch>
+  <node name="orb_slam2_rgbd" pkg="orb_slam2_ros"
+      type="orb_slam2_ros_rgbd" output="screen">
+
+       <remap from="camera/depth_registered/image_raw"     to="camera/depth/image"/>
+       <remap from="camera/rgb/image_raw"                  to="camera/rgb/image_color"/>  
+
+       <param name="publish_pointcloud" type="bool" value="true" />
+       <param name="publish_pose" type="bool" value="true" />
+       <param name="localize_only" type="bool" value="false" />
+       <param name="reset_map" type="bool" value="false" />
+
+       <!-- static parameters -->
+       <param name="load_map" type="bool" value="false" />
+       <param name="map_file" type="string" value="map.bin" />
+       <param name="settings_file" type="string" value="$(find orb_slam2_ros)/orb_slam2/config/TUM2.yaml" />
+       <param name="voc_file" type="string" value="$(find orb_slam2_ros)/orb_slam2/Vocabulary/ORBvoc.txt" />
+
+       <param name="pointcloud_frame_id" type="string" value="map" />
+       <param name="camera_frame_id" type="string" value="camera_link" />
+       <param name="min_num_kf_in_map" type="int" value="5" />
+  </node>
+</launch>