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fix human_detector.launch #1

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fix human_detector.launch #1

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26 changes: 5 additions & 21 deletions jsk_2022_10_semi/launch/human_detector.launch
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Original file line number Diff line number Diff line change
@@ -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"
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