23 lines
1.1 KiB
XML
23 lines
1.1 KiB
XML
<launch>
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<!-- Command Line Arguments -->
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<arg name="cam_name" default="csi_cam" />
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<arg name="width" default="2840" />
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<arg name="height" default="2160" />
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<arg name="fps" default="30" />
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<!-- Make arguments available to parameter server -->
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<param name="$(arg cam_name)/image_width" type="int" value="$(arg width)" />
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<param name="$(arg cam_name)/image_height" type="int" value="$(arg height)" />
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<param name="$(arg cam_name)/target_fps" type="int" value="$(arg fps)" />
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<!-- Start the GSCAM node -->
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<env name="GSCAM_CONFIG" value="nvcamerasrc ! video/x-raw(memory:NVMM),
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width=(int)$(arg width), height=(int)$(arg height), format=(string)I420, framerate=(fraction)$(arg fps)/1 ! nvvidconv flip-method=2 !
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video/x-raw, format=(string)BGRx ! videoconvert ! video/x-raw, format=(string)BGR" />
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<node pkg="gscam" type="gscam" name="$(arg cam_name)">
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<param name="camera_name" value="$(arg cam_name)" />
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<param name="camera_info_url" value="package://localcam/calibrations/${NAME}.yaml" />
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<remap from="camera/image_raw" to="$(arg cam_name)/image_raw" />
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</node>
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</launch>
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