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add arg for camera_info and camera_transformation #3

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Jan 5, 2015
Merged

add arg for camera_info and camera_transformation #3

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19 changes: 14 additions & 5 deletions launch/stereo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,15 @@
<arg if="$(arg respawn)" name="bond" value="" />
<arg unless="$(arg respawn)" name="bond" value="--no-bond" />

<!-- arguments for camera param uri -->
<arg name="camera_info_url_default" default="file://$(find ps4eye)/camera_info/default.yaml" />
<arg name="camera_info_url_right" default="file://$(find ps4eye)/camera_info/right.yaml" />
<arg name="camera_info_url_left" default="file://$(find ps4eye)/camera_info/left.yaml" />

<!-- arguments for tf coords -->
<arg name="parent_frame" default="/map" />
<arg name="parent_transform" default="0 0 1 -1.57 0 -1.57" />

<!-- This launchfile should bring up a node that broadcasts a ros image
transport on /webcam/image_raw -->
<arg name="DEVICE" default="/dev/video1"/>
Expand All @@ -20,12 +29,12 @@
<param name="gscam_config" value="v4l2src device=$(arg DEVICE) ! video/x-raw-yuv,framerate=$(arg FPS),width=$(arg width),height=$(arg height) ! ffmpegcolorspace"/>
<param name="frame_id" value="/ps4eye_frame"/>
<param name="sync_sink" value="true"/>
<param name="camera_info_url" value="file://$(find ps4eye)/camera_info/default.yaml" />
<param name="camera_info_url" value="$(arg camera_info_url_default)" />
</node>
<!-- Split image to left and right image -->
<node pkg="nodelet" type="nodelet" name="standalone" args="manager"/>
<node pkg="nodelet" type="nodelet" name="split_right" args="load image_proc/crop_decimate standalone">
<param name="camera_info_url" value="file://$(find ps4eye)/camera_info/right.yaml" />
<param name="camera_info_url" value="$(arg camera_info_url_right)" />
<param name="queue_size" type="int" value="10" />
<param name="x_offset" type="int" value="48" />
<param name="y_offset" type="int" value="0" />
Expand All @@ -38,7 +47,7 @@
<remap from="/stereo/right/camera_info" to="/null/right/camera_info" />
</node>
<node pkg="nodelet" type="nodelet" name="split_left" args="load image_proc/crop_decimate standalone">
<param name="camera_info_url" value="file://$(find ps4eye)/camera_info/left.yaml" />
<param name="camera_info_url" value="$(arg camera_info_url_left)" />
<param name="queue_size" type="int" value="10" />
<param name="x_offset" type="int" value="688" />
<param name="y_offset" type="int" value="0" />
Expand All @@ -50,8 +59,8 @@
<!-- Dont use original camera info -->
<remap from="/stereo/left/camera_info" to="/null/left/camera_info" />
</node>
<node name="camera_transform" pkg="tf" type="static_transform_publisher" args="0 0 1 -1.57 0 -1.57 /map /ps4eye_frame 10"/>
<node name="camera_transform" pkg="tf" type="static_transform_publisher" args="$(arg parent_transform) $(arg parent_frame) /ps4eye_frame 10"/>

<node pkg="ps4eye" type="camera_info_publisher.py" name="camera_info_publisher" />
<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" ns="stereo"/>
</launch>
</launch>