From dd257dc2a18507ffe87c734635202bfde7a00eb8 Mon Sep 17 00:00:00 2001
From: Shingo Kitagawa <shingogo@hotmail.co.jp>
Date: Fri, 2 Dec 2022 16:53:10 +0900
Subject: [PATCH] fix human_detector.launch

---
 jsk_2022_10_semi/launch/human_detector.launch | 26 ++++---------------
 1 file changed, 5 insertions(+), 21 deletions(-)

diff --git a/jsk_2022_10_semi/launch/human_detector.launch b/jsk_2022_10_semi/launch/human_detector.launch
index 21e6211525..f62532e474 100644
--- a/jsk_2022_10_semi/launch/human_detector.launch
+++ b/jsk_2022_10_semi/launch/human_detector.launch
@@ -1,38 +1,22 @@
 <launch>
   <arg name="gui" default="true" />
 
-  <arg name="INPUT_PANORAMA_IMAGE" default="/dual_fisheye_to_panorama/output/quater" />
+  <arg name="INPUT_PANORAMA_IMAGE" default="/dual_fisheye_to_panorama/output" />
   <arg name="INPUT_PANORAMA_INFO" default="/dual_fisheye_to_panorama/panorama_info" />
   <arg name="INPUT_CLASS" default="/edgetpu_panorama_object_detector/output/class" />
   <arg name="INPUT_RECTS" default="/edgetpu_panorama_object_detector/output/rects" />
 
-  <node pkg="tf" type="static_transform_publisher" name="camera_tf_publisher" args="0 0 0 0 0 -1.57 camera insta360_link 100" />
+  <node pkg="tf" type="static_transform_publisher" name="camera_tf_publisher" args="0 0 0 0 0 0 camera insta360_link 100" />
 
   <include file="$(find jsk_perception)/sample/sample_insta360_air.launch">
-      <arg name="gui" value="false" />
+    <arg name="gui" value="false" />
+    <arg name="panorama_resolution_mode" value="low" />
   </include>
 
   <include file="$(find coral_usb)/launch/edgetpu_panorama_object_detector.launch">
-  	<arg name="INPUT_IMAGE" value="/dual_fisheye_to_panorama/output"/>
+    <arg name="INPUT_IMAGE" value="/dual_fisheye_to_panorama/output"/>
   </include>
   
-  <node
-    pkg="image_transport"
-    type="republish"
-    name="panorama_decompress"
-    args="compressed in:=/dual_fisheye_to_panorama/output raw out:=/dual_fisheye_to_panorama/output"
-    />
-  <node
-    pkg="nodelet"
-    type="nodelet"
-    name="panorama_image_resize"
-    args="standalone image_proc/resize">
-    <param name="scale_height" value="0.5" />
-    <param name="scale_width" value="0.5" />
-    <remap from="image" to="/dual_fisheye_to_panorama/output" />
-    <remap from="~image" to="/dual_fisheye_to_panorama/output/quater" />
-  </node>
-
   <!-- visualize output of object detector -->
   <node
     pkg="jsk_perception"