50 lines
3.1 KiB
XML
50 lines
3.1 KiB
XML
<launch>
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<!-- Command Line Arguments -->
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<arg name="sync_sink" default="true" /> <!-- Synchronize the app sink -->
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<arg name="width" default="640" /> <!-- Image Width -->
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<arg name="height" default="480" /> <!-- Image Height -->
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<arg name="fps" default="20" /> <!-- Desired framerate -->
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<!-- Make arguments available to parameter server -->
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<param name="image_width" type="int" value="$(arg width)" />
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<param name="image_height" type="int" value="$(arg height)" />
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<param name="target_fps" type="int" value="$(arg fps)" />
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<group ns="stereo">
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<node name="right" pkg="gscam" type="gscam" >
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<param name="camera_name" value="right" />
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=0 aelock=true awblock=true maxperf=true exposuretimerange="0 500" gainrange="0 1000" ispdigitalgainrange="0 100" ! video/x-raw(memory:NVMM), width=(int)$(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" />
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<param name="frame_id" value="right_link" />
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<param name="sync_sink" value="true" />
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<!--<param name="image_encoding" value="mono8" />-->
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<param name="right/image_width" type="int" value="$(arg width)" />
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<param name="right/image_height" type="int" value="$(arg height)" />
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<param name="right/target_fps" type="int" value="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/right_640x480.yaml" />
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<remap from="camera/image_raw" to="right/image_raw" />
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<remap from="camera/camera_info" to="right/camera_info" />
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<remap from="/set_camera_info" to="/right/set_camera_info" />
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</node>
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<node name="left" pkg="gscam" type="gscam" >
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<param name="camera_name" value="left" />
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<param name="gscam_config" value="nvarguscamerasrc sensor-id=1 aelock=true awblock=true maxperf=true exposuretimerange="0 500" gainrange="0 1000" ispdigitalgainrange="0 100" ! video/x-raw(memory:NVMM), width=(int)$(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" />
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<param name="frame_id" value="left_link" />
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<param name="sync_sink" value="true" />
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<!--<param name="image_encoding" value="mono8" />-->
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<param name="left/image_width" type="int" value="$(arg width)" />
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<param name="left/image_height" type="int" value="$(arg height)" />
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<param name="left/target_fps" type="int" value="$(arg fps)" />
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<param name="camera_info_url" value="package://jetson_csi_cam/left_640x480.yaml" />
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<remap from="camera/image_raw" to="left/image_raw" />
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<remap from="camera/camera_info" to="left/camera_info" />
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<remap from="/set_camera_info" to="/left/set_camera_info" />
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</node>
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</group>
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</launch>
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