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<launch>
<arg name="gui" default="true" />
<node name="play_face_bag" pkg="rosbag" type="play" args="-l $(find opencv_apps)/test/face_detector_withface_test_diamondback.bag" />
<group ns="wide_stereo/left" >
<node name="image_proc" pkg="image_proc" type="image_proc" />
<node name="image_view" pkg="image_view" type="image_view" args="image:=image_rect_color" if="$(arg gui)" />
<!-- camshift.cpp -->
<include file="$(find opencv_apps)/launch/camshift.launch" >
<arg name="debug_view" value="$(arg gui)" />
<arg name="image" value="image_rect_color" />
<arg name="histogram" value="[0.0, 255.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]" />
<arg name="vmin" value="120" />
<arg name="vmax" value="230" />
<arg name="smin" value="60" />
</include>
<!-- Test Codes -->
<node name="camshift_saver_result" pkg="image_view" type="image_saver" args="image:=camshift/image" >
<param name="filename_format" value="$(find opencv_apps)/test/camshift_result.png"/>
</node>
<node name="camshift_saver_back_project" pkg="image_view" type="image_saver" args="image:=camshift/back_project" >
<param name="filename_format" value="$(find opencv_apps)/test/camshift_back_project.png"/>
</node>
<param name="camshift_test/topic" value="camshift/track_box" /> <!-- opencv_apps/Point2DArrayStamped -->
<test test-name="camshift_test" pkg="rostest" type="hztest" name="camshift_test" >
<param name="hz" value="20" />
<param name="hzerror" value="15" />
<param name="test_duration" value="5.0" />
</test>
</group>
</launch>
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