supersurfel_fusion_rgbd_benchmark.launch

<?xml version="1.0"?>

<launch>
    
    <node if="true" pkg="supersurfel_fusion" type="supersurfel_fusion_rgbd_benchmark_node" name="supersurfel_fusion_rgbd_benchmark_node" output="screen" clear_params="true" required="true">
      
        <param name="cell_size" value="16"/>
        <param name="seg_iter" value="10"/>
        <param name="lambda_pos" value="10.0"/>
        <param name="lambda_bound" value="1000.0"/>
        <param name="lambda_size" value="1000.0"/>
        <param name="lambda_disp" value="100000000.0"/>
        <param name="thresh_disp" value="0.0001"/>
        <param name="use_ransac" value="true"/>
        <param name="nb_samples" value="16"/>
        <param name="filter_iter" value="3"/>
        <param name="filter_alpha" value="0.1"/>
        <param name="filter_beta" value="1.0"/>
        <param name="filter_threshold" value="0.05"/>
      
        <param name="range_min" value="0.2"/>
        <param name="range_max" value="5.0"/>
        <param name="nb_supersurfels_max" value="100000"/>
        <param name="delta_t" value="20"/>
        <param name="conf_thresh_scale" value="10.0"/>
        
        <param name="icp_iter" value="10"/>
        <param name="icp_cov_thresh" value="0.05"/>
        
        <param name="untracked_threshold" value="10"/>
        
        <param name="nb_features" value="500"/>
        <param name="features_scale_factor" value="1.2"/>
        <param name="features_nb_levels" value="8"/>
        <param name="ini_th_fast" value="15"/>
        <param name="min_th_fast" value="5"/>
      
        <param name="map_frame_id" value="map"/>
        <param name="display" value="false"/>
        
        <param name="enable_loop_closure" value="false"/>
	<param name="enable_mod" value="true"/>
                
        <param name="save_model" value="false"/>
        <param name="model_file" value="$(find supersurfel_fusion)/model/model.txt"/>

	<param name="depth_scale" value="0.0002"/>
        
        <param name="use_yolo" value="true"/>
        <param name="yolo_names_file" value="$(find supersurfel_fusion)/config/coco.names"/>
        <param name="yolo_config_file" value="$(find supersurfel_fusion)/config/yolov4-tiny.cfg"/>
        <param name="yolo_weights_file" value="$(find supersurfel_fusion)/config/yolov4-tiny.weights"/>
        
        <param name="cam_frame_id" value="cam"/>
        
        <!--<param name="dataset_path" value="$(find supersurfel_fusion)/rgbd_benchmark/rgbd_dataset_freiburg1_xyz/"/>
        <param name="trajectory_file_path" value="$(find supersurfel_fusion)/rgbd_benchmark/rgbd_dataset_freiburg1_xyz/"/>
        <rosparam command="load" file="$(find supersurfel_fusion)/rgbd_benchmark/fr1_cam.yaml"/>-->
        
        <param name="dataset_path" value="$(find supersurfel_fusion)/rgbd_benchmark/rgbd_dataset_freiburg3_walking_halfsphere/"/>
        <param name="trajectory_file_path" value="$(find supersurfel_fusion)/rgbd_benchmark/rgbd_dataset_freiburg3_walking_halfsphere/"/>
        <rosparam command="load" file="$(find supersurfel_fusion)/rgbd_benchmark/fr3_cam.yaml"/>
    </node>
    
    <node pkg="rviz" type="rviz" name="rviz" output="screen" args="-d $(find supersurfel_fusion)/config/conf_tum.rviz"/>

    <node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure" output="screen" args="supersurfel_fusion_rgbd_benchmark_node"/>
  
</launch>