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add panorama_human_3d_detection.launch with insta360 air and coral #2754

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@knorth55 knorth55 commented Dec 7, 2022

Merge after #2753

Now, we only have rosbag launch for sample_panorama_human_3d_detection.launch in sample.
So, I add panorama_human_3d_detection.launch in launch for insta360 air and coral device.

roslaunch jsk_perception panorama_human_3d_detection.launch

In order to do that, I cleaned up and merged panorama launches and move them in to launch dir.
I add these launches in this PR.

  • launch/insta360_air.launch
    • originally from sample/sample_insta360_air.launch
    • change it to easily reuse
  • launch/dual_fisheye_to_panorama.launch.
    • sample/sample_dual_fisheye_to_panorama.launch.
    • the file is included in launch/insta360_air.launch so I moved to launch.
  • `launch/panorama_human_3d_detection.launch
    • originally from sample/sample_rect_array_in_panorama_to_bounding_box.launch
    • change it to easiliy reuse

cc. @AyumuIwa @mqcmd196 @sktometometo

@knorth55 knorth55 force-pushed the panorama-sample-launch-refactor branch from fc2b5ec to 79d57fa Compare December 7, 2022 14:12
@knorth55 knorth55 changed the title add rect_array_in_panorama_to_bounding_box.launch with insta360 air and coral [merge after #2753] add rect_array_in_panorama_to_bounding_box.launch with insta360 air and coral Dec 7, 2022
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knorth55 commented Dec 7, 2022

このPRはゼミで @AyumuIwa くんが作ってくれたlaunchをjsk_perceptionにマージしようとしているものです.
https://github.com/AyumuIwa/jsk_demos/blob/jsk_2022_10_semi/jsk_2022_10_semi/launch/human_detector2.launch

Spotの体外との通信が遅いため,現状のPanoramaImageをSubscribeするのではなく,PanoramaInfoに必要な情報を全てつめこむ #2753 も必要になります.
ゼミではCompressedImageをSubscribeしていましたが,そもそも画像のサイズ情報しか必要ないので,そちらをPanoramaInfoにまとめて突っ込みました.(参照: #2752)

@mqcmd196 @AyumuIwa

Spot体内で次回はコレを試してみてくれると嬉しいです.
たぶんこれで,今日やっていた人認識が全部ひとつのlaunchで立ち上がるはずです.

roslaunch jsk_perception panorama_human_3d_detection.launch gui:=false

Spot体外でやる場合には,coralとinsta360を起動しないので,以下になります

roslaunch jsk_perception panorama_human_3d_detection.launch launch_coral:=false launch_insta360:=false

@knorth55 knorth55 force-pushed the panorama-sample-launch-refactor branch from 79d57fa to e625f71 Compare December 7, 2022 14:27
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@knorth55 Please rebase this PR to origin/master.

@knorth55 knorth55 force-pushed the panorama-sample-launch-refactor branch 3 times, most recently from 7d2dddf to b03064c Compare December 13, 2022 09:44
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resize_panorama_info ノードを追加してresizeに対応しました.

@knorth55 knorth55 force-pushed the panorama-sample-launch-refactor branch from 9e5b83c to 705dccb Compare December 13, 2022 09:54
@knorth55 knorth55 force-pushed the panorama-sample-launch-refactor branch from 705dccb to 60dcbb6 Compare December 13, 2022 10:17
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I update the sample rosbag and it works.

Screencast.2022-12-13.19.27.42.mp4

@knorth55 knorth55 changed the title [merge after #2753] add rect_array_in_panorama_to_bounding_box.launch with insta360 air and coral [merge after #2753] add panorama_human_3d_detection.launch with insta360 air and coral Dec 14, 2022
@knorth55 knorth55 changed the title [merge after #2753] add panorama_human_3d_detection.launch with insta360 air and coral add panorama_human_3d_detection.launch with insta360 air and coral Jan 26, 2023
@knorth55 knorth55 force-pushed the panorama-sample-launch-refactor branch from 44c267d to e732c8d Compare January 26, 2023 11:20
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