17 lines
936 B
XML
17 lines
936 B
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_SEQUENCE" value="/root/Dataset/TUM/freiburg3/rgbd_dataset_freiburg3_walking_static" />
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<arg name="PATH_TO_ASSOCIATIONS" value="$(find rds_slam)/config/RGB-D/associations/fr3_walk_static.txt" />
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<node name="rds_slam_tum" pkg="rds_slam" type="Dynamic_RGBD" args="$(arg PATH_TO_VOCABULARY) $(arg PATH_TO_SETTINGS_FILE) $(arg PATH_TO_SEQUENCE) $(arg PATH_TO_ASSOCIATIONS)" output="screen" >
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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="1" />
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</node>
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</launch>
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