| 123456789101112131415161718192021222324252627282930313233343536373839 |
- <launch>
- <node pkg="rbx1_vision" name="face_tracker2" type="face_tracker2.py" output="screen">
- <remap from="input_rgb_image" to="/camera/rgb/image_raw" />
- <remap from="input_depth_image" to="/camera/depth_registered/image_raw" />
- <rosparam>
- use_depth_for_tracking: True
- min_keypoints: 20
- abs_min_keypoints: 6
- add_keypoint_distance: 10
- std_err_xy: 2.5
- pct_err_z: 1.5
- max_mse: 10000
- add_keypoints_interval: 1
- drop_keypoints_interval: 1
- show_text: True
- show_features: True
- show_add_drop: False
- feature_size: 1
- expand_roi: 1.02
- gf_maxCorners: 200
- gf_qualityLevel: 0.02
- gf_minDistance: 7
- gf_blockSize: 10
- gf_useHarrisDetector: False
- gf_k: 0.04
- haar_scaleFactor: 1.3
- haar_minNeighbors: 3
- haar_minSize: 30
- haar_maxSize: 150
- </rosparam>
-
- <param name="cascade_1" value="$(find rbx1_vision)/data/haar_detectors/haarcascade_frontalface_alt2.xml" />
- <param name="cascade_2" value="$(find rbx1_vision)/data/haar_detectors/haarcascade_frontalface_alt.xml" />
- <param name="cascade_3" value="$(find rbx1_vision)/data/haar_detectors/haarcascade_profileface.xml" />
- </node>
- </launch>
|
