<commit_before><launch>
  <arg name="feature" default="bof" />
  <arg name="manager" default="passthrough_manager" />

  <include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch">
    <param name="publish_tf" value="true" />
  </include>

  <!-- crop object image -->
  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" />
  <node pkg="nodelet" type="nodelet" name="pass_through_z"
        args="load pcl/PassThrough $(arg manager)" respawn="true">
    <remap from="~input" to="/kinect2/depth_highres/points_filtered" />
    <!-- suppose QVGA -->
    <rosparam>
      filter_field_name: z
      filter_limit_min: 0
      filter_limit_max: 0.7
      keep_organized: true
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="organized_to_pi"
        args="load jsk_pcl/OrganizedPointCloudToPointIndices $(arg manager)" respawn="true">
    <remap from="~input" to="pass_through_z/output" />
  </node>
  <node pkg="nodelet" type="nodelet" name="pi_to_maskimage"
        args="load jsk_pcl/PointIndicesToMaskImage $(arg manager)">
    <remap from="~input" to="organized_to_pi/output" />
    <remap from="~input/image" to="/kinect2/rgb/image" />
    <param name="approximate_sync" value="true" />
  </node>
  <!-- process mask image -->
  <node pkg="nodelet" type="nodelet" name="dilate_mask_image"
        args="load jsk_perception/DilateMaskImage $(arg manager)">
    <remap from="~input" to="/pi_to_maskimage/output" />
    <param name="approximate_sync" value="true" />
    <param name="size" type="int" value="5" />
    <param name="iterations" type="int" value="2" />
  </node>
  <node pkg="nodelet" type="nodelet" name="erode_mask_image"
        args="load jsk_perception/ErodeMaskImage $(arg manager)">
    <remap from="~input" to="/dilate_mask_image/output" />
    <param name="approximate_sync" value="true" />
    <param name="size" type="int" value="5" />
    <param name="iterations" type="int" value="4" />
  </node>
  <node pkg="nodelet" type="nodelet" name="apply_mask"
        args="load jsk_perception/ApplyMaskImage $(arg manager)">
    <remap from="~input" to="/kinect2/rgb/image" />
    <remap from="~input/mask" to="/erode_mask_image/output" />
    <param name="approximate_sync" value="true" />
  </node>

  <include file="$(find jsk_2014_picking_challenge)/launch/bof_object_matcher.launch"></include>
</launch><commit_msg>[launch/kinect2_alone_recognition_test.launch] add passthrough x, y<commit_after><launch>
  <arg name="feature" default="bof" />
  <arg name="manager" default="passthrough_manager" />

  <include file="$(find kinect2_bridge)/launch/kinect2_bridge.launch">
    <param name="publish_tf" value="true" />
  </include>

  <node pkg="tf" type="static_transform_publisher" name="static_transform_publisher" args="0 0 0 0 0 -1.57 base kinect2_rgb_optical_frame 10" />

  <!-- crop object image -->
  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" />
  <node pkg="nodelet" type="nodelet" name="pass_through_x"
        args="load pcl/PassThrough $(arg manager)" respawn="true">
    <remap from="~input" to="/kinect2/depth_highres/points" />
    <!-- suppose QVGA -->
    <rosparam>
      filter_field_name: x
      filter_limit_min: -0.1
      filter_limit_max: 0.1
      keep_organized: true
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="pass_through_y"
        args="load pcl/PassThrough $(arg manager)" respawn="true">
    <remap from="~input" to="/pass_through_x/output" />
    <!-- suppose QVGA -->
    <rosparam>
      filter_field_name: y
      filter_limit_min: -0.1
      filter_limit_max: 0.1
      keep_organized: true
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="pass_through_z"
        args="load pcl/PassThrough $(arg manager)" respawn="true">
    <remap from="~input" to="/pass_through_y/output" />
    <!-- suppose QVGA -->
    <rosparam>
      filter_field_name: z
      filter_limit_min: 0
      filter_limit_max: 0.7
      keep_organized: true
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="organized_to_pi"
        args="load jsk_pcl/OrganizedPointCloudToPointIndices $(arg manager)" respawn="true">
    <remap from="~input" to="pass_through_z/output" />
  </node>
  <node pkg="nodelet" type="nodelet" name="pi_to_maskimage"
        args="load jsk_pcl/PointIndicesToMaskImage $(arg manager)">
    <remap from="~input" to="organized_to_pi/output" />
    <remap from="~input/image" to="/kinect2/rgb/image" />
    <param name="approximate_sync" value="true" />
  </node>
  <!-- process mask image -->
  <node pkg="nodelet" type="nodelet" name="dilate_mask_image"
        args="load jsk_perception/DilateMaskImage $(arg manager)">
    <remap from="~input" to="/pi_to_maskimage/output" />
    <param name="approximate_sync" value="true" />
    <param name="size" type="int" value="10" />
    <param name="iterations" type="int" value="5" />
  </node>
  <node pkg="nodelet" type="nodelet" name="erode_mask_image"
        args="load jsk_perception/ErodeMaskImage $(arg manager)">
    <remap from="~input" to="/dilate_mask_image/output" />
    <param name="approximate_sync" value="true" />
    <param name="size" type="int" value="10" />
    <param name="iterations" type="int" value="7" />
  </node>
  <node pkg="nodelet" type="nodelet" name="apply_mask"
        args="load jsk_perception/ApplyMaskImage $(arg manager)">
    <remap from="~input" to="/kinect2/rgb/image" />
    <remap from="~input/mask" to="/erode_mask_image/output" />
    <param name="approximate_sync" value="true" />
  </node>

  <include file="$(find jsk_2014_picking_challenge)/launch/bof_object_matcher.launch">
    <arg name="input_image" value="/apply_mask/output" />
  </include>
</launch>
{'fraction_non_alphanumeric': 0.17333101529902642, 'fraction_numerical': 0.009388038942976356, 'mean_word_length': 4.159641255605381, 'pattern_counts': {'":': 0, '<': 103, '<?xml version=': 0, '>': 103, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '3109772', 'n_tokens_mistral': 2090, 'n_tokens_neox': 1995, 'n_words': 370}