[jsk_perception] add sample launch of rect_array_in_panorama_to_bound…

…ing_box_array
jsk-ros-pkg · Mar 15, 2021 · e1af6a2 · e1af6a2
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diff --git a/jsk_perception/sample/config/sample_rect_array_in_panorama_to_bounding_box_array.rviz b/jsk_perception/sample/config/sample_rect_array_in_panorama_to_bounding_box_array.rviz
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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded: ~
+      Splitter Ratio: 0.5
+    Tree Height: 399
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Image
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /draw_rects/output
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: jsk_rviz_plugin/BoundingBoxArray
+      Enabled: true
+      Name: BoundingBoxArray
+      Topic: /rect_array_in_panorama_to_bounding_box_array/bbox_array
+      Unreliable: false
+      Value: true
+      alpha: 0.800000011920929
+      color: 25; 255; 0
+      coloring: Label
+      line width: 0.004999999888241291
+      only edge: false
+      show coords: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: camera
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.750397801399231
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.593593120574951
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1025
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000025800000363fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000021a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065010000025d000001430000001600ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005220000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1920
+  X: 0
+  Y: 27
diff --git a/jsk_perception/sample/sample_rect_array_in_panorama_to_bounding_box_array.launch b/jsk_perception/sample/sample_rect_array_in_panorama_to_bounding_box_array.launch
@@ -0,0 +1,70 @@
+<launch>
+
+  <arg name="gui" default="true" />
+
+  <arg name="INPUT_PANORAMA_IMAGE" default="/dual_fisheye_to_panorama/output/quater" />
+  <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" />
+
+  <param name="/use_sim_time" value="true" />
+  <node
+    pkg="rosbag"
+    name="rosbag_play"
+    type="play"
+    args="$(find jsk_perception)/sample/data/20210315_1915.bag --clock --loop" />
+  <node
+    pkg="image_transport"
+    type="republish"
+    name="panorama_decompress"
+    args="compressed in:=/dual_fisheye_to_panorama/output raw out:=/dual_fisheye_to_panorama/output"
+    />
+  <node
+    pkg="nodelet"
+    type="nodelet"
+    name="panorama_image_resize"
+    args="standalone image_proc/resize">
+    <param name="scale_height" value="0.5" />
+    <param name="scale_width" value="0.5" />
+    <remap from="image" to="/dual_fisheye_to_panorama/output" />
+    <remap from="~image" to="/dual_fisheye_to_panorama/output/quater" />
+  </node>
+
+  <!-- visualize output of object detector -->
+  <node
+    pkg="jsk_perception"
+    type="draw_rects"
+    name="draw_rects"
+    >
+    <remap from="~input" to="$(arg INPUT_PANORAMA_IMAGE)" />
+    <remap from="~input/rects" to="$(arg INPUT_RECTS)" />
+    <remap from="~input/class" to="$(arg INPUT_CLASS)" />
+  </node>
+
+  <!-- rect_array_in_panorama_to_bounding_box_array -->
+  <node
+    pkg="jsk_perception"
+    type="rect_array_in_panorama_to_bounding_box_array.py"
+    name="rect_array_in_panorama_to_bounding_box_array"
+    >
+    <remap from="~panorama_image" to="$(arg INPUT_PANORAMA_IMAGE)" />
+    <remap from="~panorama_info" to="$(arg INPUT_PANORAMA_INFO)" />
+    <remap from="~input_class" to="$(arg INPUT_CLASS)" />
+    <remap from="~input_rects" to="$(arg INPUT_RECTS)" />
+    <rosparam>
+        frame_fixed: "camera"
+        dimensions_labels:
+            person: [0.5, 0.5, 1.5]
+    </rosparam>
+  </node>
+
+  <group if="$(arg gui)">
+    <node
+      pkg="rviz"
+      type="rviz"
+      name="$(anon rviz)"
+      args="-d $(find jsk_perception)/sample/config/sample_rect_array_in_panorama_to_bounding_box_array.rviz"
+    />
+  </group>
+
+</launch>