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42 lines
1.3 KiB
XML
42 lines
1.3 KiB
XML
<!-- -*- mode: XML -*- -->
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<!-- Load Bayer color correction and recification into camera nodelet
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manager process.
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this is a test script: NOT FOR GENERAL USE
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-->
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<launch>
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<!-- start the driver in a camera_nodelet_manager process -->
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<include file="$(find gscam)/gscam_nodelet.launch" >
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</include>
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<!-- Bayer color decoding -->
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<node pkg="nodelet" type="nodelet" name="image_proc_debayer"
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args="load image_proc/debayer camera_nodelet_manager">
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<remap from="camera_info" to="camera/camera_info" />
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<remap from="image_color" to="camera/image_color" />
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<remap from="image_mono" to="camera/image_mono" />
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<remap from="image_raw" to="camera/image_raw" />
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</node>
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<!-- mono rectification -->
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<node pkg="nodelet" type="nodelet" name="image_proc_rect"
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args="load image_proc/rectify camera_nodelet_manager">
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<remap from="camera_info" to="camera/camera_info" />
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<remap from="image_mono" to="camera/image_mono" />
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<remap from="image_rect" to="camera/image_rect" />
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</node>
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<!-- color rectification -->
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<node pkg="nodelet" type="nodelet" name="image_proc_rect_color"
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args="load image_proc/rectify camera_nodelet_manager">
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<remap from="camera_info" to="camera/camera_info" />
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<remap from="image_mono" to="camera/image_color" />
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<remap from="image_rect" to="camera/image_rect_color" />
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</node>
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</launch>
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