2019-12-11 16:37:36 -04:00
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<launch>
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<group ns="stereo">
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<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen">
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2019-12-17 10:31:54 -04:00
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<param name="approximate_sync" value="true" />
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<param name="queue_size" value="200" />
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<param name="correlation_window_size" value="11" />
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<param name="disparity_range" value="48" />
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<param name="min_disparity" value="15" />
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<param name="prefilter_cap" value="29" />
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<param name="prefilter_size" value="125" />
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<param name="speckle_range" value="24" />
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<param name="speckle_size" value="142" />
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<param name="texture_threshold" value="1040" />
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2019-12-11 16:37:36 -04:00
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</node>
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2020-02-21 12:06:25 -04:00
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<node name="disparity_to_image" pkg="topic_tools" type="transform" output="screen"
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args="/stereo/disparity /stereo/disparity_image sensor_msgs/Image 'm.image'">
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</node>
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2019-12-11 16:37:36 -04:00
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</group>
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2019-12-17 10:31:54 -04:00
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</launch>
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