18 lines
1.1 KiB
XML
18 lines
1.1 KiB
XML
<launch>
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<!-- <param name="use_sim_time" value="true" /> -->
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<arg name="PATH_TO_VOCABULARY" value="$(find rds_slam)/Vocabulary/ORBvoc.txt" />
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<arg name="PATH_TO_SETTINGS_FILE" value="$(find rds_slam)/config/RGB-D/TUM3.yaml" />
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<arg name="PATH_TO_ASSOCIATIONS" value="$(find rds_slam)/config/RGB-D/associations/fr3_walk_xyz.txt" />
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<arg name="PATH_TO_SEQUENCE" value="/root/Dataset/TUM/freiburg3/rgbd_dataset_freiburg3_walking_xyz" />
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<arg name="PATH_TO_RESULT" value="/root/results/rds-slam/fr3_walk_xyz_maskrcnn" />
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<node name="maskrcnn_tum_xyz" pkg="rds_slam" type="Dynamic_RGBD" args="$(arg PATH_TO_VOCABULARY) $(arg PATH_TO_SETTINGS_FILE) $(arg PATH_TO_SEQUENCE) $(arg PATH_TO_ASSOCIATIONS) $(arg PATH_TO_RESULT)" output="screen" launch-prefix="gdb -ex run --args">
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<param name="cnn_method" type="string" value="maskrcnn" />
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<param name="init_delay" type="double" value="30000" />
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<param name="frame_delay" type="double" value="30000" />
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<param name="init_frames" type="int" value="10" />
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</node>
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</launch>
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