Fovis test with Sequence 'freiburg1_xyz'

test_fovis.launch

<launch>
  <!-- This should be the same as used with openni_launch -->
  <arg name="camera" default="camera" />
  <arg name="image" default="image_color" />
  <arg name="depth_image" default="image" />
  <param name="use_sim_time" value="true"/>


  <!-- not needed, images are already rectified and converted -->
  <!--include file="$(find openni_launch)/launch/openni.launch">
    <arg name="load_driver" value="false"/>
  </include-->

  <node pkg="rosbag" type="play" name="player" args="--clock -s 5 -r 0.8 /home/miquel/Downloads/rgbd_dataset_freiburg1_xyz.bag" output="screen"/>
  
  <node pkg="fovis_ros" type="fovis_mono_depth_odometer" name="kinect_odometer" output="screen">
    <remap from="/camera/rgb/image_rect" to="$(arg camera)/rgb/$(arg image)" />
    <remap from="/camera/rgb/camera_info" to="$(arg camera)/rgb/camera_info" />
    <remap from="/camera/depth_registered/camera_info" to="$(arg camera)/depth/camera_info" />
    <remap from="/camera/depth_registered/image_rect" to="$(arg camera)/depth/$(arg depth_image)" />
    <param name="approximate_sync" type="bool" value="True" />
  </node>

</launch>