<launch>

  <arg name="gui" default="true" />
  <arg name="gpu" default="-1" />
  <arg name="with_depth" default="true" />
  <arg name="INPUT_IMAGE" default="/kinect_head/rgb/image_rect_color" />
  <arg name="INPUT_DEPTH_IMAGE" default="/kinect_head/depth_registered/hw_registered/image_rect" />
  <arg name="INPUT_CAMERA_INFO" default="/kinect_head/rgb/camera_info" />

  <include file="$(find jsk_perception)/sample/include/play_rosbag_hand.xml" />

  <include file="$(find jsk_perception)/launch/hand_pose_estimation_2d.launch">
    <arg name="gui" value="false" />
    <arg name="gpu" value="$(arg gpu)" />
    <arg name="INPUT_IMAGE" value="$(arg INPUT_IMAGE)" />
    <arg name="INPUT_DEPTH_IMAGE" value="$(arg INPUT_DEPTH_IMAGE)" />
    <arg name="INPUT_CAMERA_INFO" value="$(arg INPUT_CAMERA_INFO)" />
    <arg name="with_depth" value="$(arg with_depth)" />
  </include>

  <group if="$(arg gui)" >
    <node name="rviz"
          pkg="rviz" type="rviz"
          args="-d $(find jsk_perception)/sample/config/hand_pose_estimation.rviz">
    </node>
  </group>

</launch>
