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Updated README with examples of usage of the MIT stata center dataset based on jfr2018 paper. #1350

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matlabbe
2025-09-18 04:43:24 +00:00
parent f601fd43bf
commit f9ad71a7af
12 changed files with 324 additions and 121 deletions
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rtabmap_legacy/launch/jfr2018/throttle_bag.launch
+8 -5
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@@ -3,21 +3,20 @@
<launch>
<param name="use_sim_time" value="true"/>
<group ns="/wide_stereo" >
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_ros/stereo_throttle">
<node pkg="nodelet" type="nodelet" name="stereo_throttle" args="standalone rtabmap_legacy/stereo_throttle">
<remap from="left/image" to="left/image_raw"/>
<remap from="right/image" to="right/image_raw"/>
<remap from="left/camera_info" to="left/camera_info"/>
<remap from="right/camera_info" to="right/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="queue_size" type="int" value="100"/>
<param name="rate" type="double" value="15"/>
<param name="expected_input_rate" type="double" value="30"/>
</node>
</group>
<group ns="camera">
<node pkg="nodelet" type="nodelet" name="data_throttle" args="standalone rtabmap_ros/data_throttle">
<param name="rate" type="double" value="15.0"/>
<node pkg="nodelet" type="nodelet" name="data_throttle" args="standalone rtabmap_legacy/data_throttle">
<remap from="rgb/image_in" to="rgb/image_raw"/>
<remap from="depth/image_in" to="depth/image_raw"/>
<remap from="rgb/camera_info_in" to="rgb/camera_info"/>
@@ -25,6 +24,10 @@
<remap from="rgb/image_out" to="rgb/image_raw_throttle"/>
<remap from="depth/image_out" to="depth/image_raw_throttle"/>
<remap from="rgb/camera_info_out" to="rgb/camera_info_throttle"/>
<param name="queue_size" type="int" value="100"/>
<param name="rate" type="double" value="15.0"/>
<param name="expected_input_rate" type="double" value="30"/>
</node>
</group>
</launch>