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Referencing cameras by serial number for multi-camera systems #29

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63 changes: 63 additions & 0 deletions BarCam.launch
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Original file line number Diff line number Diff line change
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<launch>

<arg name="resolution" default="0"/> <!-- 0: 1280x960, 1: 1280x720, 2: 640x480, 3: 640x360 -->
<arg name="frame_rate" default="20"/>
<arg name="exposure" default="50"/>
<arg name="gain" default="50"/>
<arg name="wb_blue" default="200"/>
<arg name="wb_red" default="160"/>
<arg name="auto_exposure" default="false"/>
<arg name="show_image" default="false"/>

<group ns = "right">

<!-- Nodelet manager -->
<node pkg="nodelet" type="nodelet" name="right_nodelet_manager" args="manager" cwd="node" output="screen"/>

<node pkg="ocam" type="ocam" name="right" args="manager" cwd="node" output="screen">
<param name="serial" value="SN"/>
<param name="resolution" value="$(arg resolution)"/> <!-- 0: 1280x960, 1: 1280x720, 2: 640x480, 3: 640x360 -->
<param name="frame_rate" value="$(arg frame_rate)"/>
<param name="exposure" value="$(arg exposure)"/>
<param name="gain" value="$(arg gain)"/>
<param name="wb_blue" value="$(arg wb_blue)"/>
<param name="wb_red" value="$(arg wb_red)"/>
<param name="auto_exposure" value="$(arg auto_exposure)"/>
<param name="show_image" value="$(arg show_image)"/>
<param name="camera_frame_id" value="right"/>
</node>

<!-- Color rectified image -->
<node pkg="nodelet" type="nodelet" name="right_image_rectify_color" args="load image_proc/rectify right_nodelet_manager" respawn="true">
<remap from="image_rect" to="image_rect_color" />
</node>

</group>

<group ns = "left">
<!-- Nodelet manager -->
<node pkg="nodelet" type="nodelet" name="left_nodelet_manager" args="manager" cwd="node" output="screen"/>

<node pkg="ocam" type="ocam" name="left" args="manager" cwd="node" output="screen">
<param name="serial" value="SN"/>
<param name="resolution" value="$(arg resolution)"/> <!-- 0: 1280x960, 1: 1280x720, 2: 640x480, 3: 640x360 -->
<param name="frame_rate" value="$(arg frame_rate)"/>
<param name="exposure" value="$(arg exposure)"/>
<param name="gain" value="$(arg gain)"/>
<param name="wb_blue" value="$(arg wb_blue)"/>
<param name="wb_red" value="$(arg wb_red)"/>
<param name="auto_exposure" value="$(arg auto_exposure)"/>
<param name="show_image" value="$(arg show_image)"/>
<param name="camera_frame_id" value="left"/>
</node>

<!-- Color rectified image -->
<node pkg="nodelet" type="nodelet" name="left_image_rectify_color" args="load image_proc/rectify left_nodelet_manager" respawn="true">
<remap from="image_rect" to="image_rect_color" />
</node>

</group>



</launch>
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