35 lines
1.1 KiB
Plaintext
35 lines
1.1 KiB
Plaintext
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<launch>
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<arg name="robot" default="firefly_sbx"/>
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<arg name="calibration_file"
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default="$(find msckf_vio)/config/camchain-imucam-tum-scaled.yaml"/>
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<!-- Image Processor Nodelet -->
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<group ns="$(arg robot)">
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<node pkg="nodelet" type="nodelet" name="image_processor"
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args="standalone msckf_vio/ImageProcessorNodelet"
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output="screen"
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>
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<rosparam command="load" file="$(arg calibration_file)"/>
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<param name="grid_row" value="4"/>
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<param name="grid_col" value="4"/>
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<param name="grid_min_feature_num" value="3"/>
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<param name="grid_max_feature_num" value="4"/>
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<param name="pyramid_levels" value="3"/>
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<param name="patch_size" value="15"/>
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<param name="fast_threshold" value="10"/>
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<param name="max_iteration" value="30"/>
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<param name="track_precision" value="0.01"/>
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<param name="ransac_threshold" value="3"/>
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<param name="stereo_threshold" value="5"/>
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<remap from="~imu" to="/imu0"/>
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<remap from="~cam0_image" to="/cam0/new_image_raw"/>
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<remap from="~cam1_image" to="/cam1/new_image_raw"/>
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</node>
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</group>
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</launch>
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