Commit ba4f98bb authored by Alejandro Lopez Gestoso's avatar Alejandro Lopez Gestoso
Browse files

Added image_proc crop

parent 0d81c8cc
......@@ -33,8 +33,8 @@
<param name="max_track_error" type="double" value="0.2" />
<param name="marker_margin" type="double" value="1.0" />
<param name="output_frame" type="string" value="$(arg car_name)/front_camera_uvc_camera_optical" />
<remap from="/$(arg car_name)/camera_image" to="/$(arg car_name)/sensors/basler_camera/inverted_image_raw" />
<remap from="/$(arg car_name)/camera_info" to="/$(arg car_name)/sensors/basler_camera/camera_info" />
<remap from="/$(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)/ar_pose_marker" to="/$(arg car_name)/ar_pose_marker" />
</node>
......@@ -51,10 +51,21 @@
<arg name="node_name" value="iri_image_inverter"/>
<arg name="output" value="$(arg output)"/>
<arg name="launch_prefix" value="$(arg launch_prefix)"/>
<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera/inverted_image_raw"/>
<arg name="image_in_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/image_raw"/>
<arg name="image_out_topic" value="/$(arg car_name)/sensors/basler_camera_cropped/inverted_image_raw"/>
</include>
<node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
<node name="crop_image"
pkg="nodelet"
type="nodelet"
args="load image_proc/crop_decimate standalone_nodelet">
<remap from="camera" to="/$(arg car_name)/sensors/basler_camera"/>
<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"/>
</node>
<include file="$(find iri_adc_landmarks_slam_solver)/launch/node.launch">
<arg name="node_name" value="iri_adc_landmarks_slam_solver"/>
<arg name="output" value="$(arg output)"/>
......
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