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<launch>
<arg name="gui" default="true" />
<arg name="use_opencv3" default="false" />
<arg name="use_opencv3_1" default="false" />
<arg name="use_opencv3_2" default="false" />
<arg name="use_opencv3_3" default="false" />
<arg name="use_opencv4" default="false" />
<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)" />
<!-- face_detection.cpp -->
<include file="$(find opencv_apps)/launch/face_detection.launch" >
<arg name="debug_view" value="$(arg gui)" />
<arg name="image" value="image_rect" />
<arg name="use_opencv3" value="$(arg use_opencv3)" />
<arg name="use_opencv3_1" value="$(arg use_opencv3_1)" />
<arg name="use_opencv3_2" value="$(arg use_opencv3_2)" />
<arg name="use_opencv3_3" value="$(arg use_opencv3_3)" />
<arg name="use_opencv4" value="$(arg use_opencv4)" />
</include>
<node name="face_image_viewer" pkg="image_view" type="image_view">
<remap from="image" to="face_detection/face_image" />
</node>
<!-- Test Codes -->
<node name="face_detection_saver" pkg="image_view" type="image_saver">
<remap from="image" to="face_detection/image" />
<param name="filename_format" value="$(find opencv_apps)/test/face_detection.png"/>
</node>
<node name="face_image_saver" pkg="image_view" type="image_saver">
<remap from="image" to="face_detection/face_image" />
<param name="filename_format" value="$(find opencv_apps)/test/face.png" />
</node>
<param name="face_detection_test/topic" value="face_detection/faces" /> <!-- opencv_apps/FaceArrayStamped -->
<test test-name="face_detection_test" pkg="rostest" type="hztest" name="face_detection_test" >
<param name="hz" value="15" />
<param name="hzerror" value="14" />
<param name="test_duration" value="5.0" />
</test>
<param name="face_detection_image_test/topic" value="face_detection/face_image" />
<test test-name="face_detection_image_test" pkg="rostest" type="hztest" name="face_detection_image_test" >
<param name="hz" value="15" />
<param name="hzerror" value="14" />
<param name="test_duration" value="5.0" />
</test>
</group>
</launch>
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