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Author SHA1 Message Date
AhmedElsafy
9b554ac9fa calibration for full resolution 2018-01-28 12:03:14 -04:00
19 changed files with 275 additions and 2131 deletions
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0
.goutputstream-B0TIZ0
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49
1280x720_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="$(arg fps)" />
<group ns="stereo">
<node name="right" pkg="gscam" type="gscam" >
<param name="camera_name" value="right" />
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(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>

49
640x480_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="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>

49
752x480_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="$(arg fps)" />
<group ns="stereo">
<node name="right" pkg="gscam" type="gscam" >
<param name="camera_name" value="right" />
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(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>

1773
camera_overrides.isp
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23
left_1280x720.yaml
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@ -4,24 +4,23 @@ camera_name: left
camera_matrix:
rows: 3
cols: 3
data: [907.91127, 0. , 604.06352,
0. , 906.83626, 390.59699,
0. , 0. , 1. ]
camera_model: plumb_bob
data: [ 901.65045, 0. , 695.89579,
0. , 907.78138, 359.46417,
0. , 0. , 1. ]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.391252, 0.163859, -0.005408, 0.004813, 0.000000]
data: [-0.379567, 0.150186, 0.005721, -0.005452, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [ 0.99300094, -0.00822023, -0.11782007,
0.00780606, 0.99996163, -0.00397631,
0.11784823, 0.00302877, 0.993027 ]
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: [896.45054, 0. , 764.25062, 0. ,
0. , 896.45054, 388.10495, 0. ,
0. , 0. , 1. , 0. ]
data: [ 877.42844, 0. , 562.22726, 0. ,
0. , 877.42844, 367.71714, 0. ,
0. , 0. , 1. , 0. ]

14
left_320x240.yaml
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@ -4,17 +4,23 @@ camera_name: left
camera_matrix:
rows: 3
cols: 3
data: [225.826003, 0.000000, 170.235423, 0.000000, 302.560777, 116.353107, 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: [-0.380508, 0.124231, -0.001392, -0.009495, 0.000000]
data: [-0.366492, 0.131390, 0.003942, 0.002818, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [0.994997, 0.008482, 0.099545, -0.009047, 0.999945, 0.005227, -0.099495, -0.006101, 0.995019]
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: [294.081451, 0.000000, 126.699184, 0.000000, 0.000000, 294.081451, 115.697273, 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. ]

20
left_640x480.yaml Normal file
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@ -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]

20
left_752x480.yaml Normal file
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@ -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]

27
left_800x600.yaml
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@ -1,27 +0,0 @@
image_width: 800
image_height: 600
camera_name: left
camera_matrix:
rows: 3
cols: 3
data: [546.82833, 0. , 395.41899,
0. , 728.53633, 307.08189,
0. , 0. , 1. ]
camera_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.394573, 0.162349, -0.002198, -0.001344, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [ 0.99984948, 0.00197076, -0.0172378 ,
-0.00184396, 0.99997115, 0.00736835,
0.01725183, -0.00733546, 0.99982427]
projection_matrix:
rows: 3
cols: 4
data: [704.41879, 0. , 419.01768, 0. ,
0. , 704.41879, 306.11043, 0. ,
0. , 0. , 1. , 0. ]

23
right_1280x720.yaml
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@ -4,24 +4,23 @@ camera_name: right
camera_matrix:
rows: 3
cols: 3
data: [935.14307, 0. , 620.65919,
0. , 932.02901, 398.37732,
0. , 0. , 1. ]
camera_model: plumb_bob
data: [ 911.43902, 0. , 674.74696,
0. , 914.29415, 365.37436,
0. , 0. , 1. ]
distortion_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.397349, 0.154127, -0.004348, 0.004203, 0.000000]
data: [-0.374960, 0.127904, -0.000372, -0.002388, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [ 0.99413297, -0.00792457, -0.10787415,
0.00830358, 0.99996083, 0.00306465,
0.10784563, -0.00394241, 0.99415983]
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: [896.45054, 0. , 764.25062, -48.59953,
0. , 896.45054, 388.10495, 0. ,
0. , 0. , 1. , 0. ]
data: [ 877.42844, 0. , 562.22726, -48.58602,
0. , 877.42844, 367.71714, 0. ,
0. , 0. , 1. , 0. ]

14
right_320x240.yaml
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@ -4,17 +4,23 @@ camera_name: right
camera_matrix:
rows: 3
cols: 3
data: [229.029286, 0.000000, 170.917223, 0.000000, 306.208067, 116.795495, 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: [-0.378035, 0.121756, 0.001324, -0.008491, 0.000000]
data: [-0.374990, 0.147179, -0.003677, 0.004474, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [0.997868, 0.000357, 0.065259, 0.000013, 0.999984, -0.005673, -0.065260, 0.005662, 0.997852]
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: [294.081451, 0.000000, 126.699184, -17.052882, 0.000000, 294.081451, 115.697273, 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. ]

20
right_640x480.yaml Normal file
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@ -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]

20
right_752x480.yaml Normal file
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@ -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]

27
right_800x600.yaml
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@ -1,27 +0,0 @@
image_width: 800
image_height: 600
camera_name: right
camera_matrix:
rows: 3
cols: 3
data: [556.66939, 0. , 402.50992,
0. , 741.65684, 304.22578,
0. , 0. , 1. ]
camera_model: plumb_bob
distortion_coefficients:
rows: 1
cols: 5
data: [-0.394982, 0.162894, 0.002350, -0.001648, 0.000000]
rectification_matrix:
rows: 3
cols: 3
data: [ 0.99967835, -0.00220518, -0.02526515,
0.00201935, 0.99997074, -0.00737829,
0.02528068, 0.00732489, 0.99965356]
projection_matrix:
rows: 3
cols: 4
data: [704.41879, 0. , 419.01768, -36.86134,
0. , 704.41879, 306.11043, 0. ,
0. , 0. , 1. , 0. ]

76
video-daylight-nodelet-1280x720.launch
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@ -1,76 +0,0 @@
<launch>
<!-- <arg name="DEVICE" default="/dev/video0"/> -->
<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="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="$(arg fps)" />
<group ns="stereo">
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="GSCamNodeletLeft" args="load gscam/GSCamNodelet standalone_nodelet respawn:=true" output="screen">
<param name="camera_name" value="left"/>
<param name="camera_info_url" value="package://jetson_csi_cam/left_1280x720.yaml"/>
<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=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="$(arg fps)" />
<remap from="camera/image_raw" to="left/image_raw" />
<remap from="camera/camera_info" to="left/camera_info" />
<!--<remap from="/set_camera_info" to="left/set_camera_info" />-->
</node>
<node pkg="nodelet" type="nodelet" name="GSCamNodeletRight" args="standalone gscam/GSCamNodelet" output="screen">
<param name="camera_name" value="right"/>
<param name="camera_info_url" value="package://jetson_csi_cam/right_1280x720.yaml"/>
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=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="$(arg fps)" />
<remap from="camera/image_raw" to="right/image_raw" />
<remap from="camera/camera_info" to="right/camera_info" />
<!--<remap from="/set_camera_info" to="right/set_camera_info" />-->
</node>
<!--<node pkg="nodelet" type="nodelet" name="ImageViewNodeletLeft"
args="load image_view/image image:=/stereo/right/image_raw standalone_nodelet"
respawn="false" output="screen" >
</node>
<node pkg="nodelet" type="nodelet" name="ImageViewNodeletRight"
args="standalone image_view/image image:=/stereo/left/image_raw"
respawn="false" output="screen" >
</node>
<include file="$(find image_proc)/launch/image_proc.launch"
ns="left">
<arg name="manager" value="standalone_nodelet" />
<arg name="respawn" value="false" />
</include>
<! Basic processing for right camera
<include file="$(find image_proc)/launch/image_proc.launch"
ns="right">
<arg name="manager" value="standalone_nodelet" />
<arg name="respawn" value="false" />
</include>
<node pkg="nodelet" type="nodelet" name="disparity"
args="load gpu_stereo_image_proc/libsgm_disparity standalone_nodelet"
respawn="false" output="screen">
<param name="approximate_sync" value="true" />
</node>-->
</group>
</launch>

96
video-daylight-nodelet-800x600.launch
View File

@ -1,96 +0,0 @@
<launch>
<!-- <arg name="DEVICE" default="/dev/video0"/> -->
<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
<arg name="width" default="800" /> <!-- Image Width -->
<arg name="height" default="600" /> <!-- Image Height -->
<arg name="fps" default="20" />
<arg name="respawn" default="false" />
<arg name="left" default="left" />
<arg name="right" default="right" />
<arg name="approximate_sync" default="true" /> <!-- Desired framerate -->
<arg if="$(arg respawn)" name="bond" value="" />
<arg unless="$(arg respawn)" name="bond" value="--no-bond" />
<!-- 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="$(arg fps)" />
<group ns="stereo">
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="GSCamNodeletLeft" args="load gscam/GSCamNodelet standalone_nodelet respawn:=true" output="screen">
<param name="camera_name" value="left"/>
<param name="camera_info_url" value="package://jetson_csi_cam/left_800x600.yaml"/>
<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=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="$(arg fps)" />
<remap from="camera/image_raw" to="left/image_raw" />
<remap from="camera/camera_info" to="left/camera_info" />
<!--<remap from="/set_camera_info" to="left/set_camera_info" />-->
</node>
<node pkg="tf" type="static_transform_publisher" name="fcu_to_Left_link" args="0.08505 0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu left_link 10" />
<node pkg="nodelet" type="nodelet" name="GSCamNodeletRight" args="standalone gscam/GSCamNodelet" output="screen">
<param name="camera_name" value="right"/>
<param name="camera_info_url" value="package://jetson_csi_cam/right_800x600.yaml"/>
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=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="$(arg fps)" />
<remap from="camera/image_raw" to="right/image_raw" />
<remap from="camera/camera_info" to="right/camera_info" />
<!--<remap from="/set_camera_info" to="right/set_camera_info" />-->
</node>
<node pkg="tf" type="static_transform_publisher" name="fcu_to_Right_link" args="0.08505 -0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu right_link 10"/>
<!--<node pkg="nodelet" type="nodelet" name="ImageViewNodeletLeft"
args="load image_view/image image:=/stereo/right/image_raw standalone_nodelet"
respawn="false" output="screen" >
</node>
<node pkg="nodelet" type="nodelet" name="ImageViewNodeletRight"
args="standalone image_view/image image:=/stereo/left/image_raw"
respawn="false" output="screen" >
</node>
<include file="$(find image_proc)/launch/image_proc.launch"
ns="left">
<arg name="manager" value="standalone_nodelet" />
<arg name="respawn" value="false" />
</include>
<! Basic processing for right camera
<include file="$(find image_proc)/launch/image_proc.launch"
ns="right">
<arg name="manager" value="standalone_nodelet" />
<arg name="respawn" value="false" />
</include>
<node pkg="nodelet" type="nodelet" name="disparity"
args="load gpu_stereo_image_proc/libsgm_disparity standalone_nodelet"
respawn="false" output="screen">
<param name="approximate_sync" value="true" />
</node>-->
<node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet --no-bond" output="screen">
<!-- Read the stream setup file -->
<rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
</node>
<!--<include file="$(find gpu_stereo_image_proc)/launch/libsgm_stereo_image_proc.launch">
<arg name="manager" value="/stereo/standalone_nodelet"/>
</include>-->
</group>
</launch>

96
video-daylight-nodelet.launch
View File

@ -1,96 +0,0 @@
<launch>
<!-- <arg name="DEVICE" default="/dev/video0"/> -->
<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="20" />
<arg name="respawn" default="false" />
<arg name="left" default="left" />
<arg name="right" default="right" />
<arg name="approximate_sync" default="true" /> <!-- Desired framerate -->
<arg if="$(arg respawn)" name="bond" value="" />
<arg unless="$(arg respawn)" name="bond" value="--no-bond" />
<!-- 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="$(arg fps)" />
<group ns="stereo">
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager" output="screen"/>
<node pkg="nodelet" type="nodelet" name="GSCamNodeletLeft" args="load gscam/GSCamNodelet standalone_nodelet respawn:=true" output="screen">
<param name="camera_name" value="left"/>
<param name="camera_info_url" value="package://jetson_csi_cam/left_320x240.yaml"/>
<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=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="$(arg fps)" />
<remap from="camera/image_raw" to="left/image_raw" />
<remap from="camera/camera_info" to="left/camera_info" />
<!--<remap from="/set_camera_info" to="left/set_camera_info" />-->
</node>
<node pkg="tf" type="static_transform_publisher" name="fcu_to_Left_link" args="0.08505 0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu left_link 10" />
<node pkg="nodelet" type="nodelet" name="GSCamNodeletRight" args="standalone gscam/GSCamNodelet" output="screen">
<param name="camera_name" value="right"/>
<param name="camera_info_url" value="package://jetson_csi_cam/right_320x240.yaml"/>
<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true ! video/x-raw(memory:NVMM), width=(int)$(arg width), height=(int)$(arg height), format=(string)NV12,framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=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="$(arg fps)" />
<remap from="camera/image_raw" to="right/image_raw" />
<remap from="camera/camera_info" to="right/camera_info" />
<!--<remap from="/set_camera_info" to="right/set_camera_info" />-->
</node>
<node pkg="tf" type="static_transform_publisher" name="fcu_to_Right_link" args="0.08505 -0.0265 -0.0562 -0.5958106 0.5966497 -0.3801439 0.3801439 fcu right_link 10"/>
<!--<node pkg="nodelet" type="nodelet" name="ImageViewNodeletLeft"
args="load image_view/image image:=/stereo/right/image_raw standalone_nodelet"
respawn="false" output="screen" >
</node>
<node pkg="nodelet" type="nodelet" name="ImageViewNodeletRight"
args="standalone image_view/image image:=/stereo/left/image_raw"
respawn="false" output="screen" >
</node>
<include file="$(find image_proc)/launch/image_proc.launch"
ns="left">
<arg name="manager" value="standalone_nodelet" />
<arg name="respawn" value="false" />
</include>
<! Basic processing for right camera
<include file="$(find image_proc)/launch/image_proc.launch"
ns="right">
<arg name="manager" value="standalone_nodelet" />
<arg name="respawn" value="false" />
</include>
<node pkg="nodelet" type="nodelet" name="disparity"
args="load gpu_stereo_image_proc/libsgm_disparity standalone_nodelet"
respawn="false" output="screen">
<param name="approximate_sync" value="true" />
</node>-->
<node pkg="nodelet" type="nodelet" name="Image2RTSPNodelet" args="load image2rtsp/Image2RTSPNodelet standalone_nodelet --no-bond" output="screen">
<!-- Read the stream setup file -->
<rosparam command="load" file="$(find ros_rtsp)/config/stream_setup.yaml" />
</node>
<!--<include file="$(find gpu_stereo_image_proc)/launch/libsgm_stereo_image_proc.launch">
<arg name="manager" value="/stereo/standalone_nodelet"/>
</include>-->
</group>
</launch>

10
video-daylight.launch
View File

@ -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>