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‎.clang-format

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---
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Language: Cpp
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# BasedOnStyle: Google
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AccessModifierOffset: -1
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AlignAfterOpenBracket: Align
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AlignConsecutiveAssignments: false
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AlignConsecutiveDeclarations: false
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AlignEscapedNewlines: Left
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AlignOperands: true
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AlignTrailingComments: true
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AllowAllParametersOfDeclarationOnNextLine: true
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AllowShortBlocksOnASingleLine: false
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AllowShortCaseLabelsOnASingleLine: false
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AllowShortFunctionsOnASingleLine: All
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AllowShortIfStatementsOnASingleLine: true
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AllowShortLoopsOnASingleLine: true
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AlwaysBreakAfterDefinitionReturnType: None
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AlwaysBreakAfterReturnType: None
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AlwaysBreakBeforeMultilineStrings: true
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AlwaysBreakTemplateDeclarations: true
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BinPackArguments: true
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BinPackParameters: true
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BraceWrapping:
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AfterClass: false
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AfterControlStatement: false
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AfterEnum: false
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AfterFunction: false
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AfterNamespace: false
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AfterObjCDeclaration: false
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AfterStruct: false
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AfterUnion: false
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AfterExternBlock: false
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BeforeCatch: false
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BeforeElse: false
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IndentBraces: false
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SplitEmptyFunction: true
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SplitEmptyRecord: true
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SplitEmptyNamespace: true
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BreakBeforeBinaryOperators: None
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BreakBeforeBraces: Attach
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BreakBeforeInheritanceComma: false
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BreakBeforeTernaryOperators: true
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BreakConstructorInitializersBeforeComma: false
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BreakConstructorInitializers: BeforeColon
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BreakAfterJavaFieldAnnotations: false
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BreakStringLiterals: true
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ColumnLimit: 120
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CommentPragmas: '^ IWYU pragma:'
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CompactNamespaces: false
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ConstructorInitializerAllOnOneLineOrOnePerLine: true
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ConstructorInitializerIndentWidth: 4
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ContinuationIndentWidth: 4
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Cpp11BracedListStyle: true
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DerivePointerAlignment: true
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DisableFormat: false
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ExperimentalAutoDetectBinPacking: false
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FixNamespaceComments: true
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ForEachMacros:
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- foreach
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- Q_FOREACH
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- BOOST_FOREACH
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IncludeBlocks: Preserve
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IncludeCategories:
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- Regex: '^<ext/.*\.h>'
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Priority: 2
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- Regex: '^<.*\.h>'
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Priority: 1
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- Regex: '^<.*'
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Priority: 2
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- Regex: '.*'
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Priority: 3
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IncludeIsMainRegex: '([-_](test|unittest))?$'
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IndentCaseLabels: true
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IndentPPDirectives: None
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IndentWidth: 2
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IndentWrappedFunctionNames: false
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JavaScriptQuotes: Leave
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JavaScriptWrapImports: true
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KeepEmptyLinesAtTheStartOfBlocks: false
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MacroBlockBegin: ''
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MacroBlockEnd: ''
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MaxEmptyLinesToKeep: 1
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NamespaceIndentation: None
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ObjCBlockIndentWidth: 2
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ObjCSpaceAfterProperty: false
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ObjCSpaceBeforeProtocolList: false
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PenaltyBreakAssignment: 2
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PenaltyBreakBeforeFirstCallParameter: 1
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PenaltyBreakComment: 300
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PenaltyBreakFirstLessLess: 120
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PenaltyBreakString: 1000
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PenaltyExcessCharacter: 1000000
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PenaltyReturnTypeOnItsOwnLine: 200
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PointerAlignment: Left
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RawStringFormats:
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- Delimiters: [pb]
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Language: TextProto
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BasedOnStyle: google
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ReflowComments: true
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SortIncludes: true
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SortUsingDeclarations: true
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SpaceAfterCStyleCast: false
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SpaceAfterTemplateKeyword: true
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SpaceBeforeAssignmentOperators: true
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SpaceBeforeParens: ControlStatements
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SpaceInEmptyParentheses: false
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SpacesBeforeTrailingComments: 2
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SpacesInAngles: false
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SpacesInContainerLiterals: true
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SpacesInCStyleCastParentheses: false
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SpacesInParentheses: false
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SpacesInSquareBrackets: false
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Standard: Auto
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TabWidth: 8
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UseTab: Never
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...
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‎.gitignore

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*~
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ex_calib_result.yaml
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vins_result.csv
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data_generator/
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build/
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test/
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test.launch
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evaluate/
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.vscode/
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result.txt
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result_global.txt
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result_gps.txt
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0*.txt
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1*.txt
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2*.txt
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camera_camera_calib.yaml
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camera_chessboard_data.dat
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sim_data
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run
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.idea
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output
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config/*.pth

‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(robust_vins)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_BUILD_TYPE "Release")
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set(CMAKE_CXX_FLAGS "-std=c++14")
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#set(CMAKE_CXX_FLAGS "-std=c++11 -O3 -Wall -g -march=native")
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#-DEIGEN_USE_MKL_ALL")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
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#set(CMAKE_CXX_FLAGS_RELEASE "-std=c++11 -O3 -Wall -g -march=native")
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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geometry_msgs
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nav_msgs
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tf
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cv_bridge
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camera_models
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vins
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image_transport
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pcl_conversions
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pcl_ros
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rosbag)
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#set(OpenCV_DIR "/usr/local/share/OpenCV")
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find_package(OpenCV REQUIRED)
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find_package(PCL REQUIRED)
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message(WARNING "OpenCV_VERSION: ${OpenCV_VERSION}")
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find_package(Ceres REQUIRED)
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include_directories(${CERES_INCLUDE_DIRS})
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#template sophus
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#set(Sophus_DIR "/home/td/slam/install/sophus/share/sophus/cmake/")
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find_package(Sophus REQUIRED)
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# include_directories(/home/td/slam/install/sophus/include)
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set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
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find_package(Eigen3)
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include_directories(
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${PCL_INCLUDE_DIRS}
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)
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catkin_package(
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CATKIN_DEPENDS roscpp
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std_msgs
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geometry_msgs
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nav_msgs
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tf
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cv_bridge
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camera_models
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vins
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pcl_conversions
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pcl_ros
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image_transport
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rosbag
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)

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