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23 lines
1.1 KiB
XML
23 lines
1.1 KiB
XML
<launch>
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<!-- This launchfile should bring up a node that broadcasts a ros image
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transport on /decklink/image_raw from the input channel of a BlackMagic
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DeckLink SDI capture card-->
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<!-- DeckLink config, run $ gst-inspect decklinksrc to see all the options for your card -->
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<arg name="MODE" default="ntsc"/>
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<arg name="CONNECTION" default="sdi"/>
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<arg name="SUBDEVICE" default="0"/>
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<arg name="PUBLISH_FRAME" default="false"/>
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<node ns="decklink" name="gscam_driver_decklink" pkg="gscam" type="gscam" output="screen">
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<param name="camera_name" value="default"/>
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<param name="camera_info_url" value="package://gscam/examples/uncalibrated_parameters.ini"/>
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<param name="gscam_config" value="decklinksrc mode=$(arg MODE) connection=$(arg CONNECTION) subdevice=$(arg SUBDEVICE) ! ffmpegcolorspace "/>
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<param name="frame_id" value="/decklink_frame"/>
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<!-- This needs to be set to false to avoid dropping tons of frames -->
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<param name="sync_sink" value="false"/>
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</node>
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<node name="decklink_transform" pkg="tf" type="static_transform_publisher" args="1 2 3 0 -3.141 0 /world /decklink_frame 10"/>
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</launch>
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