<launch>
  <rosparam subst_value="true">
    dataset_path: $(find jsk_perception)/sample/data/
    object_dataset_filename: apc2016_object_imgs_and_masks.bag
    object_dataset_topic: /publish_apc2016_object_imgs_and_masks/output/image
    nonobject_dataset_filename: apc2016_object_imgs_and_masks.bag
    nonobject_dataset_topic: /publish_apc2016_object_imgs_and_masks/output/mask
    swindow_x: 32
    swindow_y: 32
    classifier_name: $(env HOME)/.ros/jsk_perception_sample_sliding_window_object_detector_classifier.xml
    manifest_filename: $(env HOME)/.ros/jsk_perception_sample_sliding_window_object_detector_manifest.xml
  </rosparam>

  <node name="sliding_window_object_detector_trainer"
        pkg="jsk_perception" type="sliding_window_object_detector_trainer_node"
        output="screen">
  </node>
</launch>
