Commit 492f00fe authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Commented image_proc crop

parent 32e84cd9
...@@ -33,8 +33,10 @@ ...@@ -33,8 +33,10 @@
<param name="max_track_error" type="double" value="0.2" /> <param name="max_track_error" type="double" value="0.2" />
<param name="marker_margin" type="double" value="1.0" /> <param name="marker_margin" type="double" value="1.0" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" /> <param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw" /> <!--<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera_cropped/camera_info" /> <remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera_cropped/camera_info" />-->
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera/inverted_image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera/camera_info" />
<remap from="/$(arg car_name)/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" /> <remap from="/$(arg car_name)/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
</node> </node>
...@@ -51,11 +53,13 @@ ...@@ -51,11 +53,13 @@
<arg name="node_name" value="iri_image_inverter"/> <arg name="node_name" value="iri_image_inverter"/>
<arg name="output" value="$(arg output)"/> <arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/> <arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/image_raw"/> <!--<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw"/> <arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw"/>-->
<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera/inverted_image_raw"/>
</include> </include>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/> <!--<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
<node name="crop_image" <node name="crop_image"
pkg="nodelet" pkg="nodelet"
...@@ -64,7 +68,7 @@ ...@@ -64,7 +68,7 @@
<remap from="camera" to="/$(arg car_name)/sensors/basler_camera"/> <remap from="camera" to="/$(arg car_name)/sensors/basler_camera"/>
<remap from="camera_out" to="/$(arg car_name)/sensors/basler_camera_cropped"/> <remap from="camera_out" to="/$(arg car_name)/sensors/basler_camera_cropped"/>
<rosparam file="$(find iri_adc_launch)/config/adc_common/crop_front_image.yaml" command="load"/> <rosparam file="$(find iri_adc_launch)/config/adc_common/crop_front_image.yaml" command="load"/>
</node> </node>-->
<include file="$(find iri_adc_landmarks_slam_solver)/launch/node.launch"> <include file="$(find iri_adc_landmarks_slam_solver)/launch/node.launch">
<arg name="node_name" value="iri_adc_landmarks_slam_solver"/> <arg name="node_name" value="iri_adc_landmarks_slam_solver"/>
......
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