From a5c4d4a5e122428e720a91f4c2005c43d04d7c3c Mon Sep 17 00:00:00 2001
From: Emilly Lamotte <emilly.lamotte@xpi.com.br>
Date: Mon, 3 Jul 2023 00:16:39 -0300
Subject: [PATCH] Create config file and change publisher for debug image

---
 .../config/yolo_face_tracker_recognition.yaml | 53 +++++++++++++++++++
 1 file changed, 53 insertions(+)
 create mode 100644 butia_recognition/config/yolo_face_tracker_recognition.yaml

diff --git a/butia_recognition/config/yolo_face_tracker_recognition.yaml b/butia_recognition/config/yolo_face_tracker_recognition.yaml
new file mode 100644
index 0000000..0334f17
--- /dev/null
+++ b/butia_recognition/config/yolo_face_tracker_recognition.yaml
@@ -0,0 +1,53 @@
+debug_kpt_threshold: 0.5
+
+model_file: yolov8s-pose.pt
+
+subscribers:
+  
+  queue_size: 1
+  exact_time: false
+  slop: 0.5
+
+  image_rgb: /butia_vision/bvb/image_rgb
+
+  image_depth: /butia_vision/bvb/image_depth
+
+  camera_info: /butia_vision/bvb/camera_info
+
+
+publishers:
+
+  recognition:
+    topic: /butia_vision/br/recognitions2D
+    queue_size: 1
+    
+  debug:
+    topic: /butia_vision/br/debug_recog
+    queue_size: 1
+
+  tracking: 
+    topic: /butia_vision/pt/tracking2D
+    queue_size: 1
+
+servers:
+  start:
+    service: /butia_vision/br/yolo_tracking/start
+
+  stop:
+    service: /butia_vision/br/yolo_tracking/stop
+
+services:
+  tracking:
+    start: /butia_vision/pt/start
+    stop: /butia_vision/pt/stop
+
+tracking:
+  start_on_init: false
+  use_boxmot: false
+  model_file: osnet_x0_25_msmt17.pt
+  thresholds:
+    reid_threshold: 0.3
+    det_threshold: 0.5
+    iou_threshold: 0.15
+    max_age: 10
+    max_time: 10