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Adding Spiri settings to start the cameras

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This commit is contained in:
PleiadesTX2 2019-12-05 12:00:05 -04:00
parent b4d839bdfc
commit 7ddf6735fe
9 changed files with 558 additions and 1 deletions
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20
calibration-left.yaml Normal file
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image_width: 1280
image_height: 720
camera_name: narrow_stereo/left
camera_matrix:
rows: 3
cols: 3
data: [872.082713, 0, 629.146801, 0, 872.948685, 329.783337, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.382749, 0.138828, 0.001323, 0.000611, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.999842, -0.007606, 0.016049, 0.007604, 0.9999709999999999, 0.000166, -0.01605, -4.4e-05, 0.999871]
projection_matrix:
rows: 3
cols: 4
data: [858.0889110000001, 0, 599.495079, 0, 0, 858.0889110000001, 344.665634, 0, 0, 0, 1, 0]

20
calibration-right.yaml Normal file
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image_width: 1280
image_height: 720
camera_name: narrow_stereo/right
camera_matrix:
rows: 3
cols: 3
data: [868.009016, 0, 627.0717110000001, 0, 868.673534, 357.037587, 0, 0, 1]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.376131, 0.129475, 0.000191, 0.000201, 0]
rectification_matrix:
rows: 3
cols: 3
data: [0.999533, 0.00838, 0.029402, -0.008376999999999999, 0.999965, -0.000228, -0.029403, -1.8e-05, 0.9995679999999999]
projection_matrix:
rows: 3
cols: 4
data: [858.0889110000001, 0, 599.495079, -430.072473, 0, 858.0889110000001, 344.665634, 0, 0, 0, 1, 0]

209
camera-controls-utility.sh Executable file
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#!/bin/bash
exposure=0
gain=0
data=0
READGAINCTRL=""
READEXPOSURECTRL=""
WRITEGAINCTRL=""
WRITEEXPOSURECTRL=""
MAXMINCTRL=""
DEVICE=""
CONFIGFILE=""
HELP=""
for i in "$@"
do
HELP=`echo $i | grep -wo "\--h"`
READGAINCTRL=`echo $i | grep -wo "\-rg"`
READEXPOSURECTRL=`echo $i | grep -wo "\-re"`
MAXMINCTRL=`echo $i | grep -wo "\-mm"`
LOWLIGHTCOND=`echo $i | grep -wo "\-llc"`
HIGHLIGHTCOND=`echo $i | grep -wo "\-hlc"`
case $i in
-rg=*|--readgain=*)
READGAINCTRL="${i#*=}"
shift # past argument=value
;;
-re=*|--readexposure=*)
READEXPOSURECTRL="${i#*=}"
shift # past argument=value
;;
-wg=*|--writegain=*)
WRITEGAINCTRL="${i#*=}"
shift # past argument=value
;;
-we=*|--writeexposure=*)
WRITEEXPOSURECTRL="${i#*=}"
shift # past argument=value
;;
-mm=*|--maxminctrls=*)
MAXMINCTRL="${i#*=}"
shift # past argument=value
;;
-llc=*|--lightcondlow=*)
LOWLIGHTCOND="${i#*=}"
shift # past argument=value
;;
-hlc=*|--lightcondhigh=*)
HIGHLIGHTCOND="${i#*=}"
shift # past argument=value
;;
-d=*|--device=*)
DEVICE="${i#*=}"
shift # past argument=value
;;
--h*|--help*)
HELP="${i#*=}"
shift # past argument=value
;;
--default)
DEFAULT=YES
shift # past argument with no value
;;
*)
# unknown option
;;
esac
done
read_gain(){
if [ "$DEVICE" == "" ]
then
echo "Device needed"
else
v4l2-ctl -d "/dev/video$DEVICE" -C gain
fi
}
read_exposure(){
if [ "$DEVICE" == "" ]
then
echo "Device needed"
else
v4l2-ctl -d "/dev/video$DEVICE" -C coarse_time
fi
}
write_gain(){
if [ "$DEVICE" == "" ]
then
echo "Device needed"
else
gain=$WRITEGAINCTRL
v4l2-ctl -d "/dev/video$DEVICE" -c gain=$gain
fi
}
write_exposure(){
if [ "$DEVICE" == "" ]
then
echo "Device needed"
else
exposure=$WRITEEXPOSURECTRL
v4l2-ctl -d "/dev/video$DEVICE" -c coarse_time=$exposure
fi
}
min_and_max_ctrls(){
if [ "$DEVICE" == "" ]
then
echo "Device needed"
else
v4l2-ctl -d "/dev/video$DEVICE" -l | grep -w gain
v4l2-ctl -d "/dev/video$DEVICE" -l | grep -w coarse_time
fi
}
low_light_cond(){
if [ "$DEVICE" == "" ]
then
echo "Device needed"
else
v4l2-ctl -d "/dev/video$DEVICE" -c gain=520
v4l2-ctl -d "/dev/video$DEVICE" -c coarse_time=667
fi
}
high_light_cond(){
if [ "$DEVICE" == "" ]
then
echo "Device needed"
else
v4l2-ctl -d "/dev/video$DEVICE" -c gain=66
v4l2-ctl -d "/dev/video$DEVICE" -c coarse_time=260
fi
}
help(){
echo "***************************************************************************************************************************"
echo "* ______ _ _____ _____ ___ ______ _____ _____ *"
echo "* | ___ \| | | ___||_ _| / _ \ | _ \| ___|/ ___| *"
echo "* | |_/ /| | | |__ | | / /_\ \| | | || |__ \ \__ *"
echo "* | __/ | | | __| | | | _ || | | || __| \___ \ *"
echo "* | | | |____| |___ _| |_ | | | || |/ / | |___ ____/ / *"
echo "* \_| \_____/\____/ \___/ \_| |_/|___/ \____/ \____/ *"
echo "* *"
echo "********************************************* controls-utility Instructions **********************************************"
echo "* *"
echo "* - Controls values: Display the maximum, minimum, actual and default value of the gain and exposure. *"
echo "* Use -mm and set the device. *"
echo "* example: ./controls-utility.sh -d=\"0\" -mm *"
echo "* *"
echo "* - Read gain value: Use the argument \"-rg\", and the device to read current gain value *"
echo "* example: ./controls-utility.sh -d=\"0\" -rg *"
echo "* *"
echo "* - Read exposure value: Use the argument \"-re\", and the device to read current exposure value *"
echo "* example: ./controls-utility.sh -d=\"0\" -re *"
echo "* *"
echo "* - Write gain value: Use the argument \"-wg\", and the device to write the gain desired *"
echo "* example: ./controls-utility.sh -d=\"0\" -wg=\"200\" *"
echo "* *"
echo "* - Write exposure value: Use the argument \"-we\", and the device to write the gain desired *"
echo "* example: ./controls-utility.sh -d=\"0\" -we=\"200\" *"
echo "* *"
echo "* - Low light conditions: Use the argument \"-llc\", and the device *"
echo "* example: ./controls-utility.sh -d=\"0\" -llc *"
echo "* *"
echo "* - High light conditions: Use the argument \"-hlc\", and the device *"
echo "* example: ./controls-utility.sh -d=\"0\" -hlc *"
echo "* *"
echo "* - Help instructions: Use the argument \"--h\" *"
echo "* example: ./controls-utility.sh --h *"
echo "* *"
echo "***************************************************************************************************************************"
}
if [ "$READGAINCTRL" != "" ]
then
read_gain
fi
if [ "$READEXPOSURECTRL" != "" ]
then
read_exposure
fi
if [ "$WRITEGAINCTRL" != "" ]
then
write_gain
fi
if [ "$WRITEEXPOSURECTRL" != "" ]
then
write_exposure
fi
if [ "$LOWLIGHTCOND" != "" ]
then
low_light_cond
fi
if [ "$HIGHLIGHTCOND" != "" ]
then
high_light_cond
fi
if [ "$MAXMINCTRL" != "" ]
then
min_and_max_ctrls
fi
if [ "$HELP" != "" ]
then
help
fi

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cameras-manual.launch Normal file
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<launch>
<!-- Command Line Arguments -->
<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
<arg name="width" default="1280" /> <!-- Image Width -->
<arg name="height" default="720" /> <!-- Image Height -->
<arg name="fps" default="60" /> <!-- Desired framerate -->
<!-- Make arguments available to parameter server -->
<param name="image_width" type="int" value="$(arg width)" />
<param name="image_height" type="int" value="$(arg height)" />
<param name="target_fps" type="int" value="$(arg fps)" />
<group ns="stereo">
<node name="right" pkg="gscam" type="gscam" >
<param name="camera_name" value="right" />
<param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="camera_id" value="0" />
<param name="frame_id" value="right_link" />
<param name="sync_sink" value="true" />
<param name="right/image_width" type="int" value="$(arg width)" />
<param name="right/image_height" type="int" value="$(arg height)" />
<param name="right/target_fps" type="int" value="$(arg fps)" />
<param name="camera_info_url" value="package://jetson_csi_cam/calibration-right.yaml" />
<remap from="camera/image_raw" to="right/image_raw" />
<remap from="camera/camera_info" to="right/camera_info" />
<remap from="set_camera_info" to="camera_info" />
</node>
<node name="left" pkg="gscam" type="gscam" >
<param name="camera_name" value="left" />
<param name="gscam_config" value="nvcamerasrc sensor-id=1 auto-exposure=1 aeLock=1 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="frame_id" value="left_link" />
<param name="sync_sink" value="true" />
<param name="left/image_width" type="int" value="$(arg width)" />
<param name="left/image_height" type="int" value="$(arg height)" />
<param name="left/target_fps" type="int" value="$(arg fps)" />
<param name="camera_info_url" value="package://jetson_csi_cam/calibration-left.yaml" />
<remap from="camera/image_raw" to="left/image_raw" />
<remap from="camera/camera_info" to="left/camera_info" />
<remap from="/set_camera_info" to="/left/set_camera_info" />
</node>
<node name="both" pkg="stereo_image_proc" type="stereo_image_proc" />
</group>
</launch>

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cameras.launch Normal file
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<launch>
<!-- Command Line Arguments -->
<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
<arg name="width" default="1280" /> <!-- Image Width -->
<arg name="height" default="720" /> <!-- Image Height -->
<arg name="fps" default="60" /> <!-- Desired framerate -->
<!-- Make arguments available to parameter server -->
<param name="image_width" type="int" value="$(arg width)" />
<param name="image_height" type="int" value="$(arg height)" />
<param name="target_fps" type="int" value="$(arg fps)" />
<group ns="stereo">
<node name="right" pkg="gscam" type="gscam" >
<param name="camera_name" value="right" />
<param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=2 aeLock=0 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="camera_id" value="0" />
<param name="frame_id" value="right_link" />
<param name="sync_sink" value="true" />
<param name="right/image_width" type="int" value="$(arg width)" />
<param name="right/image_height" type="int" value="$(arg height)" />
<param name="right/target_fps" type="int" value="$(arg fps)" />
<param name="camera_info_url" value="package://jetson_csi_cam/calibration-right.yaml" />
<remap from="camera/image_raw" to="right/image_raw" />
<remap from="camera/camera_info" to="right/camera_info" />
<remap from="set_camera_info" to="camera_info" />
</node>
<node name="left" pkg="gscam" type="gscam" >
<param name="camera_name" value="left" />
<param name="gscam_config" value="nvcamerasrc sensor-id=1 auto-exposure=2 aeLock=0 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="frame_id" value="left_link" />
<param name="sync_sink" value="true" />
<param name="left/image_width" type="int" value="$(arg width)" />
<param name="left/image_height" type="int" value="$(arg height)" />
<param name="left/target_fps" type="int" value="$(arg fps)" />
<param name="camera_info_url" value="package://jetson_csi_cam/calibration-left.yaml" />
<remap from="camera/image_raw" to="left/image_raw" />
<remap from="camera/camera_info" to="left/camera_info" />
<remap from="/set_camera_info" to="/left/set_camera_info" />
</node>
<node name="both" pkg="stereo_image_proc" type="stereo_image_proc" />
</group>
</launch>

48
cameras_SLAM.launch Normal file
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<launch>
<!-- Command Line Arguments -->
<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
<arg name="width" default="320" /> <!-- Image Width -->
<arg name="height" default="240" /> <!-- Image Height -->
<arg name="fps" default="60" /> <!-- Desired framerate -->
<!-- Make arguments available to parameter server -->
<param name="image_width" type="int" value="$(arg width)" />
<param name="image_height" type="int" value="$(arg height)" />
<param name="target_fps" type="int" value="$(arg fps)" />
<group ns="stereo">
<node name="right" pkg="gscam" type="gscam" >
<param name="camera_name" value="right" />
<param name="gscam_config" value="nvcamerasrc sensor-id=0 auto-exposure=2 aeLock=0 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw-yuv, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="camera_id" value="0" />
<param name="frame_id" value="right_link" />
<param name="sync_sink" value="true" />
<param name="right/image_width" type="int" value="$(arg width)" />
<param name="right/image_height" type="int" value="$(arg height)" />
<param name="right/target_fps" type="int" value="$(arg fps)" />
<param name="camera_info_url" value="package://jetson_csi_cam/calibration-right.yaml" />
<remap from="camera/image_raw" to="right/image_raw" />
<remap from="camera/camera_info" to="right/camera_info" />
<remap from="set_camera_info" to="camera_info" />
</node>
<node name="left" pkg="gscam" type="gscam" >
<param name="camera_name" value="left" />
<param name="gscam_config" value="nvcamerasrc sensor-id=1 auto-exposure=2 aeLock=0 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw-yuv, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="frame_id" value="left_link" />
<param name="sync_sink" value="true" />
<param name="left/image_width" type="int" value="$(arg width)" />
<param name="left/image_height" type="int" value="$(arg height)" />
<param name="left/target_fps" type="int" value="$(arg fps)" />
<param name="camera_info_url" value="package://jetson_csi_cam/calibration-left.yaml" />
<remap from="camera/image_raw" to="left/image_raw" />
<remap from="camera/camera_info" to="left/camera_info" />
<remap from="/set_camera_info" to="/left/set_camera_info" />
</node>
<!--<node name="both" pkg="stereo_image_proc" type="stereo_image_proc" />-->
</group>
</launch>

2
jetson_csi_cam.launch
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<param name="$(arg cam_name)/target_fps" type="int" value="$(arg fps)" />
<!-- Define the GSCAM pipeline -->
<env name="GSCAM_CONFIG" value="nvcamerasrc sensor-id=$(arg sensor_id) ! video/x-raw(memory:NVMM),
<env name="GSCAM_CONFIG" value="nvarguscamerasrc sensor-id=$(arg sensor_id) ! video/x-raw(memory:NVMM),
width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 !
nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />

117
stereoSettings.yaml Normal file
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%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters
#--------------------------------------------------------------------------------------------
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 858.08891142058
Camera.fy: 858.08891142058
Camera.cx: 599.4950790405273
Camera.cy: 344.66563415527344
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.height: 720
Camera.width: 1280
# Camera frames per second
Camera.fps: 60.0
# stereo baseline times fx
# Spiri baseline = 53mm = 0.053m
Camera.bf: 45.4787123053
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 0
# Close/Far threshold. Baseline times.
ThDepth: 35
#--------------------------------------------------------------------------------------------
# Stereo Rectification. Only if you need to pre-rectify the images.
# Camera.fx, .fy, etc must be the same as in LEFT.P
#--------------------------------------------------------------------------------------------
LEFT.height: 720
LEFT.width: 1280
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [-0.38274884059323255, 0.13882784820394012, 0.0013228079981012287, 0.000610515166596169, 0.0]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [872.0827132010173, 0.0, 629.146800831531, 0.0, 872.9486851144557, 329.7833373150439, 0.0, 0.0, 1.0]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.9998422733068986, -0.007605901683869659, 0.016049260670464208, 0.007604212038624664, 0.9999710737331147, 0.0001663018737299101, -0.016050061300968175, -4.4233662283887984e-05, 0.9998711884916068]
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [858.08891142058, 0.0, 599.4950790405273, 0.0, 0.0, 858.08891142058, 344.66563415527344, 0.0, 0.0, 0.0, 1.0, 0.0]
RIGHT.height: 720
RIGHT.width: 1280
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [-0.37613139424849784, 0.12947511985930749, 0.0001911664252283371, 0.00020105328605981988, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [868.0090164746218, 0.0, 627.0717114982791, 0.0, 868.6735344383518, 357.03758653892595, 0.0, 0.0, 1.0]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.9995325381102218, 0.00837959770719308, 0.029402170008415367, -0.00837650207609846, 0.9999648903939145, -0.00022845668221993547, -0.02940305208489884, -1.7937450689705826e-05, 0.9995676366341303]
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [858.08891142058, 0.0, 599.4950790405273, -430.0724725519876, 0.0, 858.08891142058, 344.66563415527344, 0.0, 0.0, 0.0, 1.0, 0.0]
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1200
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

47
video-daylight.launch Normal file
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<launch>
<!-- Command Line Arguments -->
<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
<arg name="width" default="1280" /> <!-- Image Width -->
<arg name="height" default="720" /> <!-- Image Height -->
<arg name="fps" default="30" /> <!-- Desired framerate -->
<!-- Make arguments available to parameter server -->
<param name="image_width" type="int" value="$(arg width)" />
<param name="image_height" type="int" value="$(arg height)" />
<param name="target_fps" type="int" value="$(arg fps)" />
<group ns="stereo">
<node name="right" pkg="gscam" type="gscam" >
<param name="camera_name" value="right" />
<param name="gscam_config" value="nvcamerasrc sensor-id=1 aeLock=0 wbmode=5 scene-mode=3 intent=3 contrast=0.8 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="frame_id" value="right_link" />
<param name="sync_sink" value="true" />
<param name="right/image_width" type="int" value="$(arg width)" />
<param name="right/image_height" type="int" value="$(arg height)" />
<param name="right/target_fps" type="int" value="$(arg fps)" />
<param name="camera_info_url" value="package://jetson_csi_cam/calibration-right.yaml" />
<remap from="camera/image_raw" to="right/image_raw" />
<remap from="camera/camera_info" to="right/camera_info" />
<!-- <remap from="/set_camera_info" to="/right/set_camera_info" /> -->
</node>
<node name="left" pkg="gscam" type="gscam" >
<param name="camera_name" value="left" />
<param name="gscam_config" value="nvcamerasrc sensor-id=0 aeLock=0 wbmode=5 scene-mode=3 intent=3 contrast=0.8 ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
<param name="frame_id" value="left_link" />
<param name="sync_sink" value="true" />
<param name="left/image_width" type="int" value="$(arg width)" />
<param name="left/image_height" type="int" value="$(arg height)" />
<param name="left/target_fps" type="int" value="$(arg fps)" />
<param name="camera_info_url" value="package://jetson_csi_cam/calibration-left.yaml" />
<remap from="camera/image_raw" to="left/image_raw" />
<remap from="camera/camera_info" to="left/camera_info" />
<!-- <remap from="/set_camera_info" to="/left/set_camera_info" /> -->
</node>
<node name="both" pkg="stereo_image_proc" type="stereo_image_proc" />
</group>
</launch>