bagfiles-without-tf.launch

<!-- This file demonstrates the use of SIFT features for online SLAM with a Kinect. 
     The openni driver is started from this file -->
<launch>
  <param name="/use_sim_time" value="true"/> 
  <!-- Load reasonable defaults for the relative pose between cameras -->
  <include file="$(find openni_launch)/launch/kinect_frames.launch">
    <arg name="camera" value="camera" />
  </include>

  <arg name="debug" default="false"/>
  <arg if="$(arg debug)" name="launch_prefix" value="/usr/bin/xterm -rv -e gdb -ex run -args"/>
  <arg unless="$(arg debug)" name="launch_prefix" value=""/>

  <node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen"  launch-prefix="$(arg launch_prefix)"> 
    <!-- Input data settings-->
    <param name="config/topic_image_mono"              value="/camera/rgb/image_mono"/> <!--could also be color -->
    <param name="config/topic_image_depth"             value="/camera/depth/image"/>
    <param name="config/topic_points"                  value="/camera/rgb/points"/> <!--if empty, poincloud will be reconstructed from image and depth -->

    <param name="config/feature_detector_type"         value="SIFTGPU"/>
    <param name="config/feature_extractor_type"        value="SIFTGPU"/>
    <param name="config/nn_distance_ratio"             value="0.90"/> <!-- Feature correspondence is valid if distance to nearest neighbour is smaller than this parameter times the distance to the 2nd neighbour -->
    <param name="config/max_keypoints"                 value="600"/><!-- Extract no more than this many keypoints (not honored by SIFTGPU)-->
    <param name="config/observability_threshold"       value="0.1"/>

    <!-- Algortithm settings -->
    <param name="config/visualize_mono_depth_overlay"  value="false"/> <!-- Show Depth and Monochrome image as overlay in featureflow -->
    <param name="config/squared_meshing_threshold"     value="0.0004"/> 
    <param name="config/cloud_creation_skip_step"      value="1"/> 
    <param name="config/use_feature_min_depth"         value="false"/> 
  </node>
</launch>