<commit_before><launch>
  <arg name="input_cloud" default="/kinect2/depth_highres/points"/>
  <arg name="input_image" default="/kinect2/rgb/image"/>

  <arg name="custom" default="true"/>
  <arg name="manager" default="passthrough_manager"/>
  <arg name="rect" default="false" />

  <node pkg="nodelet" type="nodelet" name="passthrough_z"
        args="load pcl/PassThrough $(arg manager)" respawn="true">
    <remap from="~input" to="$(arg input_cloud)" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: 0
      filter_limit_max: 0.9
      keep_organized: true
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="organized_resize_x"
        args="load jsk_pcl/OrganizedPassThrough $(arg manager)">
    <remap from="~input" to="passthrough_z/output" />
    <rosparam>
      filter_field: 0
      min_index: 0
      max_index: 1240
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="organized_resize_y"
        args="load jsk_pcl/OrganizedPassThrough $(arg manager)">
    <remap from="~input" to="organized_resize_x/output" />
    <rosparam>
      filter_field: 1
      min_index: 140
      max_index: 700
    </rosparam>
  </node>

  <node pkg="pr2_navigation_self_filter"
        type="self_filter" clear_params="true"
        name="robot_shadow_self_filter2" respawn="true" output="screen">
    <!-- The topic for the input cloud -->
    <!-- <remap from="cloud_in" to="$(arg input_cloud)" /> -->
    <remap from="cloud_in" to="organized_resize_y/output" />
    <!-- The topic for the output cloud -->
    <remap from="cloud_out" to="$(arg input_cloud)_filtered" />
    <param name="subsample_value" type="double" value="0.0"/>
    <param name="use_rgb" type="bool" value="true"/>
    <param name="keep_organized" type="bool" value="true"/>
    <!-- The names of the links the sensor can see -->
    <rosparam if="$(arg custom)" command="load" file="$(find jsk_2014_picking_challenge)/config/openni_self_filter_custom.yaml" />
    <rosparam unless="$(arg custom)" command="load" file="$(find jsk_baxter_startup)/jsk_baxter_sensors/openni_self_filter.yaml" />
  </node>

  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" />


  <!-- <node pkg="nodelet" type="nodelet" name="left_right_divider" -->
  <!--       args="load jsk_pcl/AttentionClipper /$(arg manager)" respawn="true"> -->
  <!--   <remap from="~input/points" to="/kinect2/depth_highres/points_filtered" /> -->
  <!--   <rosparam> -->
  <!--     use_multiple_attention: true -->
  <!--     initial_pos_list: [[0.1,0,0.3], [0.1,0,0.3]] -->
  <!--     initial_rot_list: [[0,0,0], [0,0,0]] -->
  <!--     dimensions: [[0.25, 0.35, 0.35],[0.25, 0.35, 0.35]] -->
  <!--     frame_id_list: [right_hand, left_hand] -->
  <!--     prefixes: [right_hand, left_hand] -->
  <!--   </rosparam> -->
  <!-- </node> -->



  <node pkg="nodelet" type="nodelet" name="left_hand"
        args="standalone pcl/PassThrough" respawn="true">
    <remap from="~input" to="/kinect2/depth_highres/points_filtered" />
    <!-- suppose QVGA -->
    <rosparam>
      filter_field_name: x
      filter_limit_min: -0.7
      filter_limit_max: 0
      keep_organized: true
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="right_hand"
        args="standalone pcl/PassThrough" respawn="true">
    <remap from="~input" to="/kinect2/depth_highres/points_filtered" />
    <!-- suppose QVGA -->
    <rosparam>
      filter_field_name: x
      filter_limit_min: 0
      filter_limit_max: 0.7
      keep_organized: true
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="organized_to_pi_right"
        args="load jsk_pcl/OrganizedPointCloudToPointIndices $(arg manager)" respawn="true">
    <remap from="~input" to="right_hand/output" />
  </node>

  <node pkg="nodelet" type="nodelet" name="organized_to_pi_left"
        args="load jsk_pcl/OrganizedPointCloudToPointIndices $(arg manager)" respawn="true">
    <remap from="~input" to="left_hand/output" />
  </node>

  <group ns="left_process">
    <include file="$(find jsk_2014_picking_challenge)/launch/process_mask_image.launch">
      <arg name="arm" value="left"/>
      <arg name="original_image" value="$(arg input_image)"/>
      <arg name="input_point_indices" value="/organized_to_pi_left/output"/>
      <arg name="input_depth_camera_info" value="/kinect2/depth_highres/camera_info"/>
      <arg name="rect" value="$(arg rect)"/>
    </include>
  </group>

  <group ns="right_process">
    <include file="$(find jsk_2014_picking_challenge)/launch/process_mask_image.launch">
      <arg name="arm" value="right"/>
      <arg name="original_image" value="$(arg input_image)"/>
      <arg name="input_point_indices" value="/organized_to_pi_right/output"/>
      <arg name="input_depth_camera_info" value="/kinect2/depth_highres/camera_info"/>
      <arg name="rect" value="$(arg rect)"/>
    </include>
  </group>
</launch>
<commit_msg>[attention_divide.launch] Change center. may be -0.2m<commit_after><launch>
  <arg name="input_cloud" default="/kinect2/depth_highres/points"/>
  <arg name="input_image" default="/kinect2/rgb/image"/>

  <arg name="custom" default="true"/>
  <arg name="manager" default="passthrough_manager"/>
  <arg name="rect" default="false" />

  <node pkg="nodelet" type="nodelet" name="passthrough_z"
        args="load pcl/PassThrough $(arg manager)" respawn="true">
    <remap from="~input" to="$(arg input_cloud)" />
    <rosparam>
      filter_field_name: z
      filter_limit_min: 0
      filter_limit_max: 0.9
      keep_organized: true
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="organized_resize_x"
        args="load jsk_pcl/OrganizedPassThrough $(arg manager)">
    <remap from="~input" to="passthrough_z/output" />
    <rosparam>
      filter_field: 0
      min_index: 0
      max_index: 1240
    </rosparam>
  </node>
  <node pkg="nodelet" type="nodelet" name="organized_resize_y"
        args="load jsk_pcl/OrganizedPassThrough $(arg manager)">
    <remap from="~input" to="organized_resize_x/output" />
    <rosparam>
      filter_field: 1
      min_index: 140
      max_index: 700
    </rosparam>
  </node>

  <node pkg="pr2_navigation_self_filter"
        type="self_filter" clear_params="true"
        name="robot_shadow_self_filter2" respawn="true" output="screen">
    <!-- The topic for the input cloud -->
    <!-- <remap from="cloud_in" to="$(arg input_cloud)" /> -->
    <remap from="cloud_in" to="organized_resize_y/output" />
    <!-- The topic for the output cloud -->
    <remap from="cloud_out" to="$(arg input_cloud)_filtered" />
    <param name="subsample_value" type="double" value="0.0"/>
    <param name="use_rgb" type="bool" value="true"/>
    <param name="keep_organized" type="bool" value="true"/>
    <!-- The names of the links the sensor can see -->
    <rosparam if="$(arg custom)" command="load" file="$(find jsk_2014_picking_challenge)/config/openni_self_filter_custom.yaml" />
    <rosparam unless="$(arg custom)" command="load" file="$(find jsk_baxter_startup)/jsk_baxter_sensors/openni_self_filter.yaml" />
  </node>

  <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" />


  <!-- <node pkg="nodelet" type="nodelet" name="left_right_divider" -->
  <!--       args="load jsk_pcl/AttentionClipper /$(arg manager)" respawn="true"> -->
  <!--   <remap from="~input/points" to="/kinect2/depth_highres/points_filtered" /> -->
  <!--   <rosparam> -->
  <!--     use_multiple_attention: true -->
  <!--     initial_pos_list: [[0.1,0,0.3], [0.1,0,0.3]] -->
  <!--     initial_rot_list: [[0,0,0], [0,0,0]] -->
  <!--     dimensions: [[0.25, 0.35, 0.35],[0.25, 0.35, 0.35]] -->
  <!--     frame_id_list: [right_hand, left_hand] -->
  <!--     prefixes: [right_hand, left_hand] -->
  <!--   </rosparam> -->
  <!-- </node> -->



  <node pkg="nodelet" type="nodelet" name="left_hand"
        args="standalone pcl/PassThrough" respawn="true">
    <remap from="~input" to="/kinect2/depth_highres/points_filtered" />
    <!-- suppose QVGA -->
    <rosparam>
      filter_field_name: x
      filter_limit_min: -0.7
      filter_limit_max: -0.2
      keep_organized: true
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="right_hand"
        args="standalone pcl/PassThrough" respawn="true">
    <remap from="~input" to="/kinect2/depth_highres/points_filtered" />
    <!-- suppose QVGA -->
    <rosparam>
      filter_field_name: x
      filter_limit_min: -0.2
      filter_limit_max: 0.3
      keep_organized: true
    </rosparam>
  </node>

  <node pkg="nodelet" type="nodelet" name="organized_to_pi_right"
        args="load jsk_pcl/OrganizedPointCloudToPointIndices $(arg manager)" respawn="true">
    <remap from="~input" to="right_hand/output" />
  </node>

  <node pkg="nodelet" type="nodelet" name="organized_to_pi_left"
        args="load jsk_pcl/OrganizedPointCloudToPointIndices $(arg manager)" respawn="true">
    <remap from="~input" to="left_hand/output" />
  </node>

  <group ns="left_process">
    <include file="$(find jsk_2014_picking_challenge)/launch/process_mask_image.launch">
      <arg name="arm" value="left"/>
      <arg name="original_image" value="$(arg input_image)"/>
      <arg name="input_point_indices" value="/organized_to_pi_left/output"/>
      <arg name="input_depth_camera_info" value="/kinect2/depth_highres/camera_info"/>
      <arg name="rect" value="$(arg rect)"/>
    </include>
  </group>

  <group ns="right_process">
    <include file="$(find jsk_2014_picking_challenge)/launch/process_mask_image.launch">
      <arg name="arm" value="right"/>
      <arg name="original_image" value="$(arg input_image)"/>
      <arg name="input_point_indices" value="/organized_to_pi_right/output"/>
      <arg name="input_depth_camera_info" value="/kinect2/depth_highres/camera_info"/>
      <arg name="rect" value="$(arg rect)"/>
    </include>
  </group>
</launch>

{'fraction_non_alphanumeric': 0.17835550181378476, 'fraction_numerical': 0.016324062877871828, 'mean_word_length': 3.690453686200378, 'pattern_counts': {'":': 0, '<': 183, '<?xml version=': 0, '>': 183, 'https://': 0, 'lorem ipsum': 0, 'www.': 0, 'xml': 0}, 'pii_count': 0, 'substrings_counts': 0, 'word_list_counts': {'cursed_substrings.json': 0, 'profanity_word_list.json': 0, 'sexual_word_list.json': 0, 'zh_pornsignals.json': 0}}
{'dir': 'git-commits-cleaned', 'id': '526075', 'n_tokens_mistral': 3640, 'n_tokens_neox': 3418, 'n_words': 617}