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add launch/*.launch files (from test/*.test) to reuse launch files
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<launch> | ||
<arg name="node_name" default="camshift" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="histogram" default="[0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" doc="Histogram of tracked color object" /> | ||
<arg name="vmin" default="10" doc="Min threshould of lightness."/> | ||
<arg name="vmax" default="230" doc="Max threshould of lightness." /> | ||
<arg name="smin" default="60" doc="Min value of saturation." /> | ||
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<!-- camshift.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="camshift" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<rosparam param="histogram" subst_value="True"> | ||
$(arg histogram) | ||
</rosparam> | ||
<param name="vmin" value="$(arg vmin)" /> | ||
<param name="vmax" value="$(arg vmax)" /> | ||
<param name="smin" value="$(arg smin)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="contour_moments" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
<arg name="canny_low_threshold" default="100" doc="Canny Edge low Threshold"/> | ||
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<!-- contour_moments.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="contour_moments" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="canny_low_threshold" value="$(arg canny_low_threshold)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="convex_hull" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="threshold" default="100" doc="Treshold for the detecting edges."/> | ||
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<!-- convex_hull.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="convex_hull" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="threshold" value="$(arg threshold)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="edge_detection" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="edge_type" default="0" doc="Specify edge dtection methods. 0: Sobel Derivatives, 1: Lapalace Operator, 2, Canny Edge Detector." /> | ||
<arg name="canny_threshold1" default="100" doc="Specify second canny threashold value." /> | ||
<arg name="canny_threshold2" default="200" doc="Specity first canny threashold value." /> | ||
<arg name="apertureSize" default="3" doc="Aperture size for the Sobel() operator." /> | ||
<arg name="apply_blur_pre" default="true" doc="Flag, applying Blur() to input image" /> | ||
<arg name="postBlurSize" default="13" doc="Aperture size for the Blur() to input image()" /> | ||
<arg name="postBlurSigma" default="3.2" doc="Sigma for the GaussianBlur() to input image." /> | ||
<arg name="apply_blur_post" default="false" doc="Flag, applying GaussinaBlur() to output(edge) image" /> | ||
<arg name="L2gradient" default="false" doc="Flag, L2Gradient" /> | ||
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<!-- edge_detection.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="edge_detection" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="edge_type" value="$(arg edge_type)" /> | ||
<param name="canny_threshold1" value="$(arg canny_threshold1)" /> | ||
<param name="canny_threshold2" value="$(arg canny_threshold2)" /> | ||
<param name="apertureSize" value="$(arg apertureSize)" /> | ||
<param name="apply_blur_pre" value="$(arg apply_blur_pre)" /> | ||
<param name="postBlurSize" value="$(arg postBlurSize)" /> | ||
<param name="postBlurSigma" value="$(arg postBlurSigma)" /> | ||
<param name="apply_blur_post" value="$(arg apply_blur_post)" /> | ||
<param name="L2gradient" value="$(arg L2gradient)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="face_detection" /> | ||
<arg name="use_opencv3" default="false" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<!-- face_detection.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="face_detection" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param if="$(arg use_opencv3)" | ||
name="face_cascade_name" value="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_frontalface_alt.xml" /> | ||
<param if="$(arg use_opencv3)" | ||
name="eyes_cascade_name" value="$(find opencv3)/../OpenCV-3.1.0-dev/haarcascades/haarcascade_eye_tree_eyeglasses.xml" /> | ||
<param unless="$(arg use_opencv3)" | ||
name="face_cascade_name" value="/usr/share/opencv/haarcascades/haarcascade_frontalface_alt.xml" /> | ||
<param unless="$(arg use_opencv3)" | ||
name="eyes_cascade_name" value="/usr/share/opencv/haarcascades/haarcascade_eye_tree_eyeglasses.xml" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="fback_flow" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<!-- fback_flow.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="fback_flow" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="find_contours" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="canny_low_threshold" default="10" doc="Lower threshold for the internal Canny edge detector."/> | ||
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<!-- find_contours.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="find_contours" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="canny_low_threshold" value="$(arg canny_low_threshold)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="general_contours" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="threshold" default="100" doc="Treshold for the detecting edges."/> | ||
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<!-- general_contours.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="general_contours" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="threshold" value="$(arg threshold)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="goodfeature_track" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="max_corners" default="23" doc="Maximum number of corners to return. If there are more corners than are found, the strongest of them is returned." /> | ||
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<!-- goodfeature_track.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="goodfeature_track" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="max_corners" value="$(arg max_corners)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="houh_circles" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="canny_threshold" default="200" doc="Upper threshold for the internal Canny edge detector." /> | ||
<arg name="accumulator_threshold" default="50" doc="Threshold for center detection." /> | ||
<arg name="gaussian_blur_size" default="9" doc="The size of gaussian blur (should be odd number)" /> | ||
<arg name="gaussian_sigma_x" default="2" doc="Sigma x of gaussian kernel" /> | ||
<arg name="gaussian_sigma_y" default="2" doc="Sigma y of gaussian kernel" /> | ||
<arg name="dp" default="2" doc="The inverse ratio of resolution." /> | ||
<arg name="min_circle_radius" default="0" doc="The minimum size of the circle, If unknown, put zero as default" /> | ||
<arg name="max_circle_radius" default="0" doc="The maximum size of the circle, If unknown, put zero as default." /> | ||
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<!-- hough_circles.cpp --> | ||
<node name="hough_circles" pkg="opencv_apps" type="hough_circles" args="image:=image_rect" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="canny_threshold" value="$(arg canny_threshold)" /> | ||
<param name="accumulator_threshold" value="$(arg accumulator_threshold)" /> | ||
<param name="gaussian_blur_size" value="$(arg gaussian_blur_size)" /> | ||
<param name="gaussian_sigma_x" value="$(arg gaussian_sigma_x)" /> | ||
<param name="gaussian_sigma_y" value="$(arg gaussian_sigma_y)" /> | ||
<param name="dp" value="$(arg dp)" /> | ||
<param name="min_circle_radius" value="$(arg min_circle_radius)" /> | ||
<param name="max_circle_radius" value="$(arg max_circle_radius)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="hough_lines" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="hough_type" default="0" doc="Apecify Hough transform type, 0 for Standard Hough Detection and 1 for Probabilistic Hough Detection" /> | ||
<arg name="threshold" default="150" doc="Threshould value for hough line detection" /> | ||
<arg name="rho" default="1.0" doc="The resolution of the parameter r in pixels." /> | ||
<arg name="theta" default="1.0" doc="The resolution of the parameter theta in radians." /> | ||
<arg name="minLineLength" default="30" doc="The minimum number of points that can form a line." /> | ||
<arg name="maxLineGrap" default="10" doc="The maximum gap between two points to be considered in the same line." /> | ||
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<!-- hough_lines.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="hough_lines" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="hough_type" value="$(arg hough_type)" /> | ||
<param name="threshold" value="$(arg threshold)" /> | ||
<param name="rho" value="$(arg rho)" /> | ||
<param name="theta" value="$(arg theta)" /> | ||
<param name="minLineLength" value="$(arg minLineLength)" /> | ||
<param name="maxLineGrap" value="$(arg maxLineGrap)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="lk_flow" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<!-- lk_flow.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="lk_flow" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="people_detect" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<arg name="hit_threshold" default="0" doc="Threshold for the distance between features and SVM classifying plane" /> | ||
<arg name="win_stride" default="8" doc="Window stride. It must be a multiple of block stride." /> | ||
<arg name="padding" default="32" doc="Mock parameter to keep the CPU interface compatibility. It must be (0,0)." /> | ||
<arg name="scale0" default="1.05" doc="Coefficient of the detection window increase." /> | ||
<arg name="group_threshold" default="2" doc="Coefficient to regulate the similarity threshold. When detected, some objects can be covered by many rectangles. 0 means not to perform grouping." /> | ||
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<!-- people_detect.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="people_detect" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
<param name="hit_threshold" value="$(arg hit_threshold)" /> | ||
<param name="win_stride" value="$(arg win_stride)" /> | ||
<param name="padding" value="$(arg padding)" /> | ||
<param name="scale0" value="$(arg scale0)" /> | ||
<param name="group_threshold" value="$(arg group_threshold)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="phase_corr" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<!-- phase_corr.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="phase_corr" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
</node> | ||
</launch> |
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<launch> | ||
<arg name="node_name" default="segment_objects" /> | ||
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<arg name="image" default="image" doc="The image topic. Should be remapped to the name of the real image topic." /> | ||
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<arg name="use_camera_info" default="false" doc="Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used." /> | ||
<arg name="debug_view" default="true" doc="Specify whether the node displays a window to show edge image" /> | ||
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<!-- segment_objects.cpp --> | ||
<node name="$(arg node_name)" pkg="opencv_apps" type="segment_objects" > | ||
<remap from="image" to="$(arg image)" /> | ||
<param name="use_camera_info" value="$(arg use_camera_info)" /> | ||
<param name="debug_view" value="$(arg debug_view)" /> | ||
</node> | ||
</launch> |
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