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kimera_semantics.launch
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kimera_semantics.launch
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<?xml version="1.0" encoding="ISO-8859-15"?>
<launch>
<arg name="voxel_size" default="0.05"/>
<arg name="max_ray_length_m" default="5"/>
<arg name="should_use_sim_time" default="true" />
<param name="use_sim_time" value="$(arg should_use_sim_time)" />
<!-- Change sensor frame to:
- 1. VIO's estimated base_link: `left_cam_base_link`
- 2. Or, if you want to use simulator's ground-truth: `left_cam`
-->
<arg name="sensor_frame" default="left_cam"/>
<!-- If you want to play directly from a rosbag -->
<arg name="play_bag" default="false"/>
<!-- Let's go at twice real-time to show the speed! It can go faster, but then rviz struggles. -->
<arg name="rosbag_rate" default="2.0"/>
<arg name="bag_file" default="$(find kimera_semantics_ros)/rosbags/kimera_semantics_demo.bag"/>
<!-- If you just want to run 3D reconstruction without semantics, set this flag to false-->
<arg name="metric_semantic_reconstruction" default="true"/>
<arg name="semantic_label_2_color_csv_filepath" default="$(find kimera_semantics_ros)/cfg/tesse_multiscene_office1_segmentation_mapping.csv"/>
<!-- Input -->
<arg name="semantic_pointcloud" default="/semantic_pointcloud"/>
<arg name="left_cam_info_topic" default="/tesse/left_cam/camera_info"/>
<arg name="right_cam_info_topic" default="/tesse/right_cam/camera_info"/>
<arg name="left_cam_topic" default="/tesse/left_cam/image_raw"/>
<arg name="right_cam_topic" default="/tesse/right_cam/image_raw"/>
<arg name="left_cam_segmentation_topic" default="/tesse/segmentation/image_raw"/>
<arg name="left_cam_depth_topic" default="/tesse/depth/image_raw"/>
<arg name="use_freespace_pointcloud" default="false" />
<arg name="freespace_pointcloud" default="/dev/null"/>
<!-- Run rosbag if requested with play_bag arg -->
<node name="player" pkg="rosbag" type="play" output="screen"
args="--clock --rate $(arg rosbag_rate) $(arg bag_file)" if="$(arg play_bag)">
<!-- The rosbag we first generated did not follow ROS naming standards for image topics,
so we remap the topics accordingly here.-->
<remap from="/tesse/left_cam" to="$(arg left_cam_topic)"/>
<remap from="/tesse/segmentation" to="$(arg left_cam_segmentation_topic)"/>
<remap from="/tesse/depth" to="$(arg left_cam_depth_topic)"/>
</node>
<!-- Generate input pointcloud with semantic labels for kimera-semantics:
- 1. Using the depth image and registered semantic image (run_stereo_dense=false).
- 2. Using stereo depth reconstruction (run_stereo_dense=true). -->
<arg name="publish_point_clouds" default="true"/>
<arg name="run_stereo_dense" default="false"/>
<group if="$(arg publish_point_clouds)">
<!-- Launch Nodelet manager: used by depth_image_proc and disparity_image_proc -->
<node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager"
output="screen"/>
<!-- Run stereo_dense_reconstruction_node (only if we don't use the depth image). -->
<arg name="left_cam_stereo_depth_topic" value="/depth_image"/>
<group if="$(arg run_stereo_dense)">
<arg name="pointcloud" value="/points2"/>
<include file="$(find kimera_semantics_ros)/launch/stereo_depth.launch">
<arg name="left_cam_info_topic" value="$(arg left_cam_info_topic)"/>
<arg name="right_cam_info_topic" value="$(arg right_cam_info_topic)"/>
<arg name="left_cam_topic" value="$(arg left_cam_topic)"/>
<arg name="right_cam_topic" value="$(arg right_cam_topic)"/>
<arg name="pointcloud" value="$(arg pointcloud)"/>
<arg name="disparity_image" value="/disparity"/>
<arg name="depth_image" value="$(arg left_cam_stereo_depth_topic)"/>
<arg name="convert_disparity_img_to_depth_img" value="true"/>
</include>
</group>
<!-- Converts registered depth image and RGB image into an RGB pointcloud.
Using depth and semantic image, it generates semantic pointcloud. -->
<node pkg="nodelet" type="nodelet" name="cloudify"
args="load depth_image_proc/point_cloud_xyzrgb nodelet_manager
-no-bond" output="screen">
<!-- Input -->
<remap from="rgb/camera_info" to="$(arg left_cam_info_topic)"/>
<remap from="rgb/image_rect_color" to="$(arg left_cam_segmentation_topic)" if="$(arg metric_semantic_reconstruction)"/>
<remap from="rgb/image_rect_color" to="$(arg left_cam_topic)" unless="$(arg metric_semantic_reconstruction)"/>
<remap from="depth_registered/image_rect" to="$(arg left_cam_stereo_depth_topic)" if="$(arg run_stereo_dense)"/>
<remap from="depth_registered/image_rect" to="$(arg left_cam_depth_topic)" unless="$(arg run_stereo_dense)"/>
<!-- Output -->
<remap from="depth_registered/points" to="$(arg semantic_pointcloud)"/>
<!-- Params -->
<param name="queue_size" value="20"/>
</node>
</group>
<arg name="pkg_type" default="kimera_semantics_ros" if="$(arg metric_semantic_reconstruction)"/>
<arg name="server_type" default="kimera_semantics_node" if="$(arg metric_semantic_reconstruction)"/>
<arg name="pkg_type" default="voxblox_ros" unless="$(arg metric_semantic_reconstruction)"/>
<arg name="server_type" default="tsdf_server" unless="$(arg metric_semantic_reconstruction)"/>
<node name="kimera_semantics_node" pkg="$(arg pkg_type)" type="$(arg server_type)" output="screen"
args="-alsologtostderr -colorlogtostderr" clear_params="true">
<!-- Input -->
<remap from="pointcloud" to="$(arg semantic_pointcloud)"/>
<!-- Params -->
<param name="tsdf_voxel_size" value="$(arg voxel_size)" />
<param name="tsdf_voxels_per_side" value="32" />
<param name="max_ray_length_m" value="$(arg max_ray_length_m)" />
<param name="min_time_between_msgs_sec" value="0.2" />
<param name="voxel_carving_enabled" value="true" />
<param name="color_mode" value="lambert_color"/>
<param name="use_const_weight" value="false" />
<param name="use_freespace_pointcloud" value="$(arg use_freespace_pointcloud)" />
<remap from="freespace_pointcloud" to="$(arg freespace_pointcloud)"/>
<param name="sensor_frame" value="$(arg sensor_frame)"/>
<param name="use_tf_transforms" value="true" />
<param name="enable_icp" value="false" />
<param name="icp_iterations" value="10" />
<param name="verbose" value="true" />
<!-- Method to update voxels' information: "fast" or "merged" -->
<param name="method" value="fast" />
<!-- "color", "semantic" or "semantic_probability" -->
<param name="semantic_color_mode" value="semantic"/>
<param name="semantic_measurement_probability" value="0.8" />
<!-- The only dynamic label we have right now are humans, with label 20 -->
<rosparam param="dynamic_semantic_labels">[20]</rosparam>
<!-- Is this needed? -->
<param name="slice_level" value="1.0" />
<param name="semantic_label_2_color_csv_filepath"
value="$(arg semantic_label_2_color_csv_filepath)"/>
<param name="publish_pointclouds" value="false"/>
<param name="update_mesh_every_n_sec" value="1.0" />
<param name="mesh_filename" value="$(find kimera_semantics_ros)/mesh_results/$(anon tesse).ply" />
</node>
</launch>