From 9b554ac9fa957cca2f8b4a99624834d745d61a8e Mon Sep 17 00:00:00 2001
From: AhmedElsafy <ahmed.elsafy@gmail.com>
Date: Sun, 28 Jan 2018 12:03:14 -0400
Subject: [PATCH] calibration for full resolution

---
 1280x720_video-daylight.launch | 49 ++++++++++++++++++++++++++++++++++
 640x480_video-daylight.launch  | 49 ++++++++++++++++++++++++++++++++++
 752x480_video-daylight.launch  | 49 ++++++++++++++++++++++++++++++++++
 left_1280x720.yaml             | 18 ++++++-------
 left_320x240.yaml              | 14 +++++++---
 left_640x480.yaml              | 20 ++++++++++++++
 left_752x480.yaml              | 20 ++++++++++++++
 right_1280x720.yaml            | 18 ++++++-------
 right_320x240.yaml             | 14 +++++++---
 right_640x480.yaml             | 20 ++++++++++++++
 right_752x480.yaml             | 20 ++++++++++++++
 video-daylight.launch          | 10 ++++---
 12 files changed, 271 insertions(+), 30 deletions(-)
 create mode 100644 1280x720_video-daylight.launch
 create mode 100644 640x480_video-daylight.launch
 create mode 100644 752x480_video-daylight.launch
 create mode 100644 left_640x480.yaml
 create mode 100644 left_752x480.yaml
 create mode 100644 right_640x480.yaml
 create mode 100644 right_752x480.yaml

diff --git a/1280x720_video-daylight.launch b/1280x720_video-daylight.launch
new file mode 100644
index 0000000..b66362e
--- /dev/null
+++ b/1280x720_video-daylight.launch
@@ -0,0 +1,49 @@
+<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="$(arg fps)" />
+
+  <group ns="stereo">
+    <node name="right" pkg="gscam" type="gscam" >
+      <param name="camera_name" value="right" />
+      <param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0  ! 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="image_encoding" value="mono8" />
+      <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="$(arg fps)" />
+      <param name="camera_info_url" value="package://jetson_csi_cam/right_1280x720.yaml" />
+      <remap from="camera/image_raw" to="right/image_raw" />
+      <remap from="camera/camera_info" to="right/camera_info" />
+<!--      <remap from="/set_camera_info" to="/right/set_camera_info" /> -->
+    </node>
+
+    <node name="left" pkg="gscam" type="gscam" >
+      <param name="camera_name" value="left" />
+      <param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! 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="image_encoding" value="mono8" />
+      <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="$(arg fps)" />
+      <param name="camera_info_url" value="package://jetson_csi_cam/left_1280x720.yaml" />
+      <remap from="camera/image_raw" to="left/image_raw" />
+      <remap from="camera/camera_info" to="left/camera_info" />
+<!--      <remap from="/set_camera_info" to="/left/set_camera_info" /> -->
+    </node>
+
+    
+
+  </group>
+
+</launch>
diff --git a/640x480_video-daylight.launch b/640x480_video-daylight.launch
new file mode 100644
index 0000000..cc74b6e
--- /dev/null
+++ b/640x480_video-daylight.launch
@@ -0,0 +1,49 @@
+<launch>
+
+  <!-- Command Line Arguments -->
+  <arg name="sync_sink" default="true" />                    <!-- Synchronize the app sink -->
+  <arg name="width" default="640" />                        <!-- Image Width -->
+  <arg name="height" default="480" />                        <!-- Image Height -->
+  <arg name="fps" default="20" />                            <!-- Desired framerate -->
+
+  <!-- Make arguments available to parameter server -->
+  <param name="image_width" type="int" value="$(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="nvarguscamerasrc sensor-id=0 aelock=true awblock=true maxperf=true exposuretimerange=&quot;0 500&quot;  gainrange=&quot;0 1000&quot; ispdigitalgainrange=&quot;0 100&quot; ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0  ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
+      <param name="frame_id" value="right_link" />
+      <param name="sync_sink" value="true" />
+      <!--<param name="image_encoding" value="mono8" />-->
+      <param name="right/image_width" type="int" value="$(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/right_640x480.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="nvarguscamerasrc sensor-id=1 aelock=true awblock=true maxperf=true exposuretimerange=&quot;0 500&quot; gainrange=&quot;0 1000&quot; ispdigitalgainrange=&quot;0 100&quot; ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
+      <param name="frame_id" value="left_link" /> 
+      <param name="sync_sink" value="true" />
+      <!--<param name="image_encoding" value="mono8" />-->
+      <param name="left/image_width" type="int" value="$(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/left_640x480.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>
+
+    
+
+  </group>
+
+</launch>
diff --git a/752x480_video-daylight.launch b/752x480_video-daylight.launch
new file mode 100644
index 0000000..b66362e
--- /dev/null
+++ b/752x480_video-daylight.launch
@@ -0,0 +1,49 @@
+<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="$(arg fps)" />
+
+  <group ns="stereo">
+    <node name="right" pkg="gscam" type="gscam" >
+      <param name="camera_name" value="right" />
+      <param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0  ! 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="image_encoding" value="mono8" />
+      <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="$(arg fps)" />
+      <param name="camera_info_url" value="package://jetson_csi_cam/right_1280x720.yaml" />
+      <remap from="camera/image_raw" to="right/image_raw" />
+      <remap from="camera/camera_info" to="right/camera_info" />
+<!--      <remap from="/set_camera_info" to="/right/set_camera_info" /> -->
+    </node>
+
+    <node name="left" pkg="gscam" type="gscam" >
+      <param name="camera_name" value="left" />
+      <param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! 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="image_encoding" value="mono8" />
+      <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/left_1280x720.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>
+
+    
+
+  </group>
+
+</launch>
diff --git a/left_1280x720.yaml b/left_1280x720.yaml
index cea115d..59a5723 100644
--- a/left_1280x720.yaml
+++ b/left_1280x720.yaml
@@ -4,23 +4,23 @@ camera_name: left
 camera_matrix:
   rows: 3
   cols: 3
-  data: [ 873.68467,    0.     ,  657.89992,
-            0.     ,  871.77207,  360.60431,
+  data: [ 901.65045,    0.     ,  695.89579,
+            0.     ,  907.78138,  359.46417,
             0.     ,    0.     ,    1.     ]
-camera_model: plumb_bob
+distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.345111, 0.109548, 0.007497, 0.001845, 0.000000]
+  data: [-0.379567, 0.150186, 0.005721, -0.005452, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [ 0.999594  ,  0.01840935,  0.02174699,
-         -0.0188595 ,  0.99960827,  0.02067903,
-         -0.02135778, -0.02108077,  0.99954962]
+  data: [ 0.99551285,  0.03384525,  0.0883667 ,
+         -0.03399252,  0.99942207,  0.00016189,
+         -0.08831015, -0.00316497,  0.996088  ]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [ 869.23405,    0.     ,  590.64311,    0.     ,
-            0.     ,  869.23405,  366.70978,    0.     ,
+  data: [ 877.42844,    0.     ,  562.22726,    0.     ,
+            0.     ,  877.42844,  367.71714,    0.     ,
             0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/left_320x240.yaml b/left_320x240.yaml
index f0a0e61..df1728e 100644
--- a/left_320x240.yaml
+++ b/left_320x240.yaml
@@ -4,17 +4,23 @@ camera_name: left
 camera_matrix:
   rows: 3
   cols: 3
-  data: [216.587179, 0.000000, 152.272854, 0.000000, 288.814935, 123.514917, 0.000000, 0.000000, 1.000000]
+  data: [224.12527,   0.     , 163.50569,
+           0.     , 298.99365, 124.05618,
+           0.     ,   0.     ,   1.     ]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.400277, 0.190072, -0.003888, 0.002995, 0.000000]
+  data: [-0.366492, 0.131390, 0.003942, 0.002818, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [0.990367, 0.059907, -0.124836, -0.059914, 0.998197, 0.003704, 0.124833, 0.003811, 0.992170]
+  data: [ 0.96991977, -0.02257566, -0.2423757 ,
+          0.0204853 ,  0.99972807, -0.0111415 ,
+          0.24256132,  0.00584122,  0.97011849]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [296.195350, 0.000000, 215.261782, 0.000000, 0.000000, 296.195350, 120.768448, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+  data: [306.37919,   0.     , 283.52062,   0.     ,
+           0.     , 306.37919, 131.00384,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]
diff --git a/left_640x480.yaml b/left_640x480.yaml
new file mode 100644
index 0000000..a029d2f
--- /dev/null
+++ b/left_640x480.yaml
@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 480
+camera_name: left
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [393.442886, 0.000000, 316.396309, 0.000000, 527.629636, 245.194696, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.297615, 0.086264, -0.006647, 0.000153, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.919720, 0.066902, -0.386832, -0.062786, 0.997755, 0.023281, 0.387522, 0.002876, 0.921856]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [649.830717, 0.000000, 758.397034, 0.000000, 0.000000, 649.830717, 214.621260, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/left_752x480.yaml b/left_752x480.yaml
new file mode 100644
index 0000000..dfef0cd
--- /dev/null
+++ b/left_752x480.yaml
@@ -0,0 +1,20 @@
+image_width: 752
+image_height: 480
+camera_name: left
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [536.856720, 0.000000, 411.167808, 0.000000, 610.175773, 214.936536, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.394093, 0.190040, -0.000195, -0.005364, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.961468, -0.039407, 0.272077, 0.043047, 0.999045, -0.007423, -0.271525, 0.018849, 0.962247]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [671.408773, 0.000000, 176.309061, 0.000000, 0.000000, 671.408773, 212.536057, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/right_1280x720.yaml b/right_1280x720.yaml
index 90c9fd3..155b55c 100644
--- a/right_1280x720.yaml
+++ b/right_1280x720.yaml
@@ -4,23 +4,23 @@ camera_name: right
 camera_matrix:
   rows: 3
   cols: 3
-  data: [ 879.81628,    0.     ,  631.55074,
-            0.     ,  877.90835,  349.78586,
+  data: [ 911.43902,    0.     ,  674.74696,
+            0.     ,  914.29415,  365.37436,
             0.     ,    0.     ,    1.     ]
-camera_model: plumb_bob
+distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.359859, 0.129457, 0.002187, 0.006292, 0.000000]
+  data: [-0.374960, 0.127904, -0.000372, -0.002388, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [ 0.99680464,  0.0451326 ,  0.06590573,
-         -0.04374539,  0.99879285, -0.02234257,
-         -0.06683455,  0.0193881 ,  0.99757568]
+  data: [ 0.99541202,  0.01286463,  0.09481247,
+         -0.01270654,  0.99991669, -0.00227096,
+         -0.09483379,  0.00105581,  0.99549256]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [ 869.23405,    0.     ,  590.64311,  -46.17111,
-            0.     ,  869.23405,  366.70978,    0.     ,
+  data: [ 877.42844,    0.     ,  562.22726,  -48.58602,
+            0.     ,  877.42844,  367.71714,    0.     ,
             0.     ,    0.     ,    1.     ,    0.     ]
diff --git a/right_320x240.yaml b/right_320x240.yaml
index 796734c..d9e4495 100644
--- a/right_320x240.yaml
+++ b/right_320x240.yaml
@@ -4,17 +4,23 @@ camera_name: right
 camera_matrix:
   rows: 3
   cols: 3
-  data: [223.401364, 0.000000, 161.232191, 0.000000, 297.556234, 124.851974, 0.000000, 0.000000, 1.000000]
+  data: [230.458  ,   0.     , 160.56834,
+           0.     , 306.66993, 129.52017,
+           0.     ,   0.     ,   1.     ]
 distortion_model: plumb_bob
 distortion_coefficients:
   rows: 1
   cols: 5
-  data: [-0.390714, 0.159344, -0.002090, -0.002267, 0.000000]
+  data: [-0.374990, 0.147179, -0.003677, 0.004474, 0.000000]
 rectification_matrix:
   rows: 3
   cols: 3
-  data: [0.988569, 0.058607, -0.138916, -0.058599, 0.998273, 0.004148, 0.138919, 0.004040, 0.990296]
+  data: [ 0.97662177, -0.03351029, -0.21233696,
+          0.03533651,  0.99936389,  0.0048104 ,
+          0.21204069, -0.01220118,  0.97718467]
 projection_matrix:
   rows: 3
   cols: 4
-  data: [296.195350, 0.000000, 215.261782, -18.019714, 0.000000, 296.195350, 120.768448, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
+  data: [306.37919,   0.     , 283.52062, -17.07839,
+           0.     , 306.37919, 131.00384,   0.     ,
+           0.     ,   0.     ,   1.     ,   0.     ]
diff --git a/right_640x480.yaml b/right_640x480.yaml
new file mode 100644
index 0000000..9731da4
--- /dev/null
+++ b/right_640x480.yaml
@@ -0,0 +1,20 @@
+image_width: 640
+image_height: 480
+camera_name: right
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [423.305149, 0.000000, 311.646272, 0.000000, 566.582012, 239.355455, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.330749, 0.104864, -0.005115, 0.002873, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.934688, 0.037250, -0.353511, -0.040991, 0.999155, -0.003098, 0.353097, 0.017386, 0.935425]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [649.830717, 0.000000, 758.397034, -38.124177, 0.000000, 649.830717, 214.621260, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/right_752x480.yaml b/right_752x480.yaml
new file mode 100644
index 0000000..c512338
--- /dev/null
+++ b/right_752x480.yaml
@@ -0,0 +1,20 @@
+image_width: 752
+image_height: 480
+camera_name: right
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [539.551055, 0.000000, 414.246727, 0.000000, 612.233691, 226.196697, 0.000000, 0.000000, 1.000000]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.366376, 0.132750, 0.000150, -0.007624, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [0.969135, -0.051258, 0.241142, 0.048030, 0.998660, 0.019250, -0.241806, -0.007074, 0.970299]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [671.408773, 0.000000, 176.309061, -39.834733, 0.000000, 671.408773, 212.536057, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]
diff --git a/video-daylight.launch b/video-daylight.launch
index 1e211d8..8b9561f 100644
--- a/video-daylight.launch
+++ b/video-daylight.launch
@@ -14,30 +14,32 @@
   <group ns="stereo">
     <node name="right" pkg="gscam" type="gscam" >
       <param name="camera_name" value="right" />
-      <param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0  ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
+      <param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true maxperf=true exposuretimerange=&quot;0 500&quot;  gainrange=&quot;0 1000&quot; ispdigitalgainrange=&quot;0 100&quot; ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0  ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
       <param name="frame_id" value="right_link" />
       <param name="sync_sink" value="true" />
+      <!--<param name="image_encoding" value="mono8" />-->
       <param name="right/image_width" type="int" value="$(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/right_320x240.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" /> -->
+      <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="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
+      <param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true maxperf=true exposuretimerange=&quot;0 500&quot; gainrange=&quot;0 1000&quot; ispdigitalgainrange=&quot;0 100&quot; ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=0 ! 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="image_encoding" value="mono8" />-->
       <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/left_320x240.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" /> -->
+      <remap from="/set_camera_info" to="/left/set_camera_info" /> 
     </node>