feat(ros): added multiple device launch for ros
This commit is contained in:
Osenberg
parent
6ed0e209fd
commit
195da375f1
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@ -2,6 +2,13 @@
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<launch>
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<launch>
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<arg name="mynteye" default="mynteye" />
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<arg name="mynteye" default="mynteye" />
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<!-- mutiple device -->
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<arg name="is_multiple" default="false" />
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<!-- serial_number -->
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<!-- if is_mutiple is true, must set serial_number -->
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<arg name="serial_number" default="" />
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<!-- node params -->
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<!-- node params -->
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<arg name="left_topic" default="left/image_raw" />
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<arg name="left_topic" default="left/image_raw" />
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@ -227,6 +234,9 @@
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<!-- node params -->
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<!-- node params -->
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<param name="is_multiple" value="$(arg is_multiple)" />
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<param name="serial_number" value="$(arg serial_number)" />
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<param name="left_topic" value="$(arg left_topic)" />
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<param name="left_topic" value="$(arg left_topic)" />
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<param name="right_topic" value="$(arg right_topic)" />
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<param name="right_topic" value="$(arg right_topic)" />
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<param name="left_rect_topic" value="$(arg left_rect_topic)" />
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<param name="left_rect_topic" value="$(arg left_rect_topic)" />
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@ -0,0 +1,7 @@
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<?xml version="1.0"?>
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<launch>
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<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_1.launch" />
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<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_2.launch" />
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<!-- <include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_3.launch" />
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<include file="$(find mynt_eye_ros_wrapper)/launch/sub/mynteye_4.launch" /> -->
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</launch>
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@ -0,0 +1,377 @@
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<?xml version="1.0"?>
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<launch>
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<arg name="mynteye" default="mynteye_1" />
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<!-- mutiple device -->
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<arg name="is_multiple" default="true" />
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<!-- serial_number -->
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<!-- if is_mutiple is true, must set serial_number -->
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<arg name="serial_number" default="07C42B1B0009071F" />
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<!-- node params -->
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<arg name="left_topic" default="left/image_raw" />
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<arg name="right_topic" default="right/image_raw" />
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<arg name="left_rect_topic" default="left_rect/image_rect" />
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<arg name="right_rect_topic" default="right_rect/image_rect" />
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<arg name="disparity_topic" default="disparity/image_raw" />
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<arg name="disparity_norm_topic" default="disparity/image_norm" />
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<arg name="depth_topic" default="depth/image_raw" />
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<arg name="points_topic" default="points/data_raw" />
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<arg name="left_mono_topic" default="left/image_mono" />
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<arg name="right_mono_topic" default="right/image_mono" />
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<arg name="imu_topic" default="imu/data_raw" />
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<arg name="temperature_topic" default="temperature/data_raw" />
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<arg name="base_frame_id" default="$(arg mynteye)_link" />
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<arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
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<arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
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<arg name="left_rect_frame_id" default="$(arg mynteye)_left_rect_frame" />
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<arg name="right_rect_frame_id" default="$(arg mynteye)_right_rect_frame" />
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<arg name="disparity_frame_id" default="$(arg mynteye)_disparity_frame" />
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<arg name="disparity_norm_frame_id" default="$(arg mynteye)_disparity_norm_frame" />
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<arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
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<arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
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<arg name="temperature_frame_id" default="$(arg mynteye)_temperature_frame" />
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<arg name="gravity" default="9.8" />
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<arg name="mesh_file" default="S1030-0315.obj" />
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<!-- stream toggles -->
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<!-- Request index -->
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<!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
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<arg name="index_s2_0" default="0" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
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<arg name="index_s2_1" default="1" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
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<arg name="index_s2_2" default="2" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
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<arg name="index_s2_3" default="3" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
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<arg name="index_s2_4" default="4" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
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<arg name="index_s2_5" default="5" />
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<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
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<arg name="index_s2_6" default="6" />
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<arg name="standard2/request_index" default="$(arg index_s2_2)" />
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<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
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<arg name="index_s_0" default="0" />
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<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
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<arg name="index_s_1" default="1" />
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<arg name="standard/request_index" default="$(arg index_s_0)" />
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<!-- disparity computing method type -->
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<arg name="sgbm" default="0" />
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<arg name="bm" default="1" />
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<arg name="disparity_computing_method" default="$(arg bm)" />
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<arg name="enable_left_rect" default="false" />
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<arg name="enable_right_rect" default="false" />
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<arg name="enable_disparity" default="false" />
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<arg name="enable_disparity_norm" default="false" />
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<arg name="enable_points" default="false" />
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<arg name="enable_depth" default="false" />
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<!-- device options of standard, -1 will not set the value -->
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<!-- standard/gain range: [0,48] -->
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<arg name="standard/gain" default="-1" />
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<!-- <arg name="standard/gain" default="24" /> -->
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<!-- standard/brightness range: [0,240] -->
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<arg name="standard/brightness" default="-1" />
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<!-- <arg name="standard/brightness" default="120" /> -->
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<!-- contrast range: [0,255] -->
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<arg name="standard/contrast" default="-1" />
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<!-- <arg name="standard/contrast" default="127" /> -->
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<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
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<arg name="standard/frame_rate" default="-1" />
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<!-- <arg name="standard/frame_rate" default="25" /> -->
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<!-- standard/imu_frequency range: {100,200,250,333,500} -->
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<arg name="standard/imu_frequency" default="-1" />
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<!-- <arg name="standard/imu_frequency" default="200" /> -->
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<!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
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<arg name="standard/exposure_mode" default="-1" />
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<!-- <arg name="standard/exposure_mode" default="0" /> -->
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<!-- standard/max_gain range: [0,48] -->
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<arg name="standard/max_gain" default="-1" />
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<!-- <arg name="standard/max_gain" default="48" /> -->
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<!-- standard/max_exposure_time range: [0,240] -->
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<arg name="standard/max_exposure_time" default="-1" />
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<!-- <arg name="standard/max_exposure_time" default="240" /> -->
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<!-- standard/desired_brightness range: [0,255] -->
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<arg name="standard/desired_brightness" default="-1" />
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<!-- <arg name="standard/desired_brightness" default="192" /> -->
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<!-- standard/ir_control range: [0,160] -->
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<arg name="standard/ir_control" default="80" />
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<!-- <arg name="standard/ir_control" default="0" /> -->
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<!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
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<arg name="standard/hdr_mode" default="-1" />
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<!-- <arg name="standard/hdr_mode" default="0" /> -->
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<!-- standard/accel_range range: {4,8,16,32} -->
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<arg name="standard/accel_range" default="-1" />
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<!-- <arg name="standard/accel_range" default="8" /> -->
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<!-- standard/gyro_range range: {500,1000,2000,4000} -->
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<arg name="standard/gyro_range" default="-1" />
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<!-- <arg name="standard/gyro_range" default="1000" /> -->
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<!-- device options of standard2, -1 will not set the value -->
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<!-- standard2/brightness range: [0,240] -->
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<arg name="standard2/brightness" default="-1" />
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<!-- <arg name="standard2/brightness" default="120" /> -->
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<!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
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<arg name="standard2/exposure_mode" default="-1" />
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<!-- <arg name="standard2/exposure_mode" default="0" /> -->
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<!-- standard2/max_gain range: [0,255] -->
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<arg name="standard2/max_gain" default="-1" />
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<!-- <arg name="standard2/max_gain" default="8" /> -->
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<!-- standard2/max_exposure_time range: [0,1000] -->
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<arg name="standard2/max_exposure_time" default="-1" />
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<!-- <arg name="standard2/max_exposure_time" default="333" /> -->
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<!-- standard2/desired_brightness range: [1,255] -->
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<arg name="standard2/desired_brightness" default="-1" />
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<!-- <arg name="standard2/desired_brightness" default="122" /> -->
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<!-- standard2/min_exposure_time range: [0,1000] -->
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<arg name="standard2/min_exposure_time" default="-1" />
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<!-- <arg name="standard2/min_exposure_time" default="0" /> -->
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<!-- standard2/ir_control range: [0,160] -->
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<arg name="standard2/ir_control" default="80" />
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<!-- <arg name="standard2/ir_control" default="0" /> -->
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<!-- standard2/accel_range range: [6,48] -->
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<arg name="standard2/accel_range" default="24" />
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<!-- <arg name="standard2/accel_range" default="6" /> -->
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<!-- standard2/gyro_range range: [250,4000] -->
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<arg name="standard2/gyro_range" default="-1" />
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<!-- <arg name="standard2/gyro_range" default="1000" /> -->
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<!-- standard2/accel_low_filter range: [0,2] -->
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<arg name="standard2/accel_low_filter" default="-1" />
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<!-- <arg name="standard2/accel_low_filter" default="2" /> -->
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<!-- standard2/gyro_low_filter range: [23,64] -->
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<arg name="standard2/gyro_low_filter" default="-1" />
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<!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
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<!-- device options of standard210a, -1 will not set the value -->
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<!-- standard210a/brightness range: [0,240] -->
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<arg name="standard210a/brightness" default="-1" />
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<!-- <arg name="standard210a/brightness" default="120" /> -->
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<!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
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<arg name="standard210a/exposure_mode" default="-1" />
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<!-- <arg name="standard210a/exposure_mode" default="0" /> -->
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<!-- standard210a/max_gain range: [0,255] -->
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<arg name="standard210a/max_gain" default="-1" />
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<!-- <arg name="standard210a/max_gain" default="8" /> -->
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<!-- standard210a/max_exposure_time range: [0,1000] -->
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<arg name="standard210a/max_exposure_time" default="-1" />
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<!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
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<!-- standard210a/desired_brightness range: [1,255] -->
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<arg name="standard210a/desired_brightness" default="-1" />
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<!-- <arg name="standard210a/desired_brightness" default="122" /> -->
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<!-- standard210a/min_exposure_time range: [0,1000] -->
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<arg name="standard210a/min_exposure_time" default="-1" />
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<!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
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<!-- standard210a/accel_range range: [6,48] -->
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<arg name="standard210a/accel_range" default="-1" />
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<!-- <arg name="standard210a/accel_range" default="6" /> -->
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<!-- standard210a/gyro_range range: [250,4000] -->
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<arg name="standard210a/gyro_range" default="-1" />
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<!-- <arg name="standard210a/gyro_range" default="1000" /> -->
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<!-- standard210a/accel_low_filter range: [0,2] -->
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<arg name="standard210a/accel_low_filter" default="-1" />
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<!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
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<!-- standard210a/gyro_low_filter range: [23,64] -->
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<arg name="standard210a/gyro_low_filter" default="-1" />
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<!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
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<!-- Push down all topics/nodelets into "mynteye" namespace -->
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<group ns="$(arg mynteye)">
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<!-- mynteye_wrapper_node -->
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<node name="mynteye_wrapper_node_1" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
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<!-- node params -->
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<param name="is_multiple" value="$(arg is_multiple)" />
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<param name="serial_number" value="$(arg serial_number)" />
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<param name="left_topic" value="$(arg left_topic)" />
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<param name="right_topic" value="$(arg right_topic)" />
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<param name="left_rect_topic" value="$(arg left_rect_topic)" />
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<param name="right_rect_topic" value="$(arg right_rect_topic)" />
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<param name="disparity_topic" value="$(arg disparity_topic)" />
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<param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
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<param name="points_topic" value="$(arg points_topic)" />
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<param name="depth_topic" value="$(arg depth_topic)" />
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<param name="mesh_file" value="$(arg mesh_file)" />
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<param name="left_mono_topic" value="$(arg left_mono_topic)" />
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<param name="right_mono_topic" value="$(arg right_mono_topic)" />
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<param name="imu_topic" value="$(arg imu_topic)" />
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<param name="temperature_topic" value="$(arg temperature_topic)" />
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<param name="base_frame_id" value="$(arg base_frame_id)" />
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<param name="left_frame_id" value="$(arg left_frame_id)" />
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<param name="right_frame_id" value="$(arg right_frame_id)" />
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<param name="left_rect_frame_id" value="$(arg left_rect_frame_id)" />
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<param name="right_rect_frame_id" value="$(arg right_rect_frame_id)" />
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<param name="disparity_frame_id" value="$(arg disparity_frame_id)" />
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<param name="disparity_norm_frame_id" value="$(arg disparity_norm_frame_id)" />
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<param name="points_frame_id" value="$(arg points_frame_id)" />
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<param name="depth_frame_id" value="$(arg depth_frame_id)" />
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<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
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<param name="gravity" value="$(arg gravity)" />
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<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
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<!-- stream toggles -->
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<param name="enable_left_rect" value="$(arg enable_left_rect)" />
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<param name="enable_right_rect" value="$(arg enable_right_rect)" />
|
||||||
|
<param name="enable_disparity" value="$(arg enable_disparity)" />
|
||||||
|
<param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
|
||||||
|
<param name="enable_points" value="$(arg enable_points)" />
|
||||||
|
<param name="enable_depth" value="$(arg enable_depth)" />
|
||||||
|
|
||||||
|
<!-- stream request index -->
|
||||||
|
<param name="standard/request_index" value="$(arg standard/request_index)" />
|
||||||
|
<param name="standard2/request_index" value="$(arg standard2/request_index)" />
|
||||||
|
|
||||||
|
<!-- device options of standard-->
|
||||||
|
|
||||||
|
<param name="standard/gain" value="$(arg standard/gain)" />
|
||||||
|
<param name="standard/brightness" value="$(arg standard/brightness)" />
|
||||||
|
<param name="standard/contrast" value="$(arg standard/contrast)" />
|
||||||
|
<param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
|
||||||
|
<param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
|
||||||
|
<param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
|
||||||
|
<param name="standard/max_gain" value="$(arg standard/max_gain)" />
|
||||||
|
<param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
|
||||||
|
<param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
|
||||||
|
<param name="standard/ir_control" value="$(arg standard/ir_control)" />
|
||||||
|
<param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
|
||||||
|
<param name="standard/accel_range" value="$(arg standard/accel_range)" />
|
||||||
|
<param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
|
||||||
|
|
||||||
|
<!-- device options of standard2-->
|
||||||
|
|
||||||
|
<param name="standard2/brightness" value="$(arg standard2/brightness)" />
|
||||||
|
<param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
|
||||||
|
<param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
|
||||||
|
<param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
|
||||||
|
<param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
|
||||||
|
<param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
|
||||||
|
<param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
|
||||||
|
<param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
|
||||||
|
<param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
|
||||||
|
<param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
|
||||||
|
<param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
|
||||||
|
|
||||||
|
<!-- device options of standard210a-->
|
||||||
|
|
||||||
|
<param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
|
||||||
|
<param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
|
||||||
|
<param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
|
||||||
|
<param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
|
||||||
|
<param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
|
||||||
|
<param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
|
||||||
|
<param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
|
||||||
|
<param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
|
||||||
|
<param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
|
||||||
|
<param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
|
||||||
|
|
||||||
|
</node>
|
||||||
|
|
||||||
|
<!-- disable compressed depth plugin for image topics -->
|
||||||
|
<group ns="$(arg left_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg left_rect_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg left_mono_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_mono_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_rect_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg disparity_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg disparity_norm_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg depth_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
</group> <!-- mynteye -->
|
||||||
|
</launch>
|
||||||
|
|
@ -0,0 +1,377 @@
|
||||||
|
<?xml version="1.0"?>
|
||||||
|
<launch>
|
||||||
|
<arg name="mynteye" default="mynteye_2" />
|
||||||
|
|
||||||
|
<!-- mutiple device -->
|
||||||
|
<arg name="is_multiple" default="true" />
|
||||||
|
|
||||||
|
<!-- serial_number -->
|
||||||
|
<!-- if is_mutiple is true, must set serial_number -->
|
||||||
|
<arg name="serial_number" default="07C4061B0009071F" />
|
||||||
|
|
||||||
|
<!-- node params -->
|
||||||
|
|
||||||
|
<arg name="left_topic" default="left/image_raw" />
|
||||||
|
<arg name="right_topic" default="right/image_raw" />
|
||||||
|
<arg name="left_rect_topic" default="left_rect/image_rect" />
|
||||||
|
<arg name="right_rect_topic" default="right_rect/image_rect" />
|
||||||
|
<arg name="disparity_topic" default="disparity/image_raw" />
|
||||||
|
<arg name="disparity_norm_topic" default="disparity/image_norm" />
|
||||||
|
<arg name="depth_topic" default="depth/image_raw" />
|
||||||
|
<arg name="points_topic" default="points/data_raw" />
|
||||||
|
|
||||||
|
<arg name="left_mono_topic" default="left/image_mono" />
|
||||||
|
<arg name="right_mono_topic" default="right/image_mono" />
|
||||||
|
|
||||||
|
<arg name="imu_topic" default="imu/data_raw" />
|
||||||
|
<arg name="temperature_topic" default="temperature/data_raw" />
|
||||||
|
|
||||||
|
<arg name="base_frame_id" default="$(arg mynteye)_link" />
|
||||||
|
<arg name="left_frame_id" default="$(arg mynteye)_left_frame" />
|
||||||
|
<arg name="right_frame_id" default="$(arg mynteye)_right_frame" />
|
||||||
|
<arg name="left_rect_frame_id" default="$(arg mynteye)_left_rect_frame" />
|
||||||
|
<arg name="right_rect_frame_id" default="$(arg mynteye)_right_rect_frame" />
|
||||||
|
<arg name="disparity_frame_id" default="$(arg mynteye)_disparity_frame" />
|
||||||
|
<arg name="disparity_norm_frame_id" default="$(arg mynteye)_disparity_norm_frame" />
|
||||||
|
<arg name="points_frame_id" default="$(arg mynteye)_points_frame" />
|
||||||
|
<arg name="depth_frame_id" default="$(arg mynteye)_depth_frame" />
|
||||||
|
|
||||||
|
<arg name="temperature_frame_id" default="$(arg mynteye)_temperature_frame" />
|
||||||
|
|
||||||
|
<arg name="gravity" default="9.8" />
|
||||||
|
|
||||||
|
<arg name="mesh_file" default="S1030-0315.obj" />
|
||||||
|
|
||||||
|
<!-- stream toggles -->
|
||||||
|
|
||||||
|
<!-- Request index -->
|
||||||
|
|
||||||
|
<!-- Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888 -->
|
||||||
|
|
||||||
|
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10 -->
|
||||||
|
<arg name="index_s2_0" default="0" />
|
||||||
|
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20 -->
|
||||||
|
<arg name="index_s2_1" default="1" />
|
||||||
|
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30 -->
|
||||||
|
<arg name="index_s2_2" default="2" />
|
||||||
|
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60 -->
|
||||||
|
<arg name="index_s2_3" default="3" />
|
||||||
|
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10 -->
|
||||||
|
<arg name="index_s2_4" default="4" />
|
||||||
|
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20 -->
|
||||||
|
<arg name="index_s2_5" default="5" />
|
||||||
|
<!-- MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30 -->
|
||||||
|
<arg name="index_s2_6" default="6" />
|
||||||
|
|
||||||
|
<arg name="standard2/request_index" default="$(arg index_s2_2)" />
|
||||||
|
|
||||||
|
<!-- MYNTEYE-S1030, Reslution: 752x480, Format: YUYV -->
|
||||||
|
<arg name="index_s_0" default="0" />
|
||||||
|
<!-- MYNTEYE-S1030, Reslution: 376x240, Format: YUYV -->
|
||||||
|
<arg name="index_s_1" default="1" />
|
||||||
|
|
||||||
|
<arg name="standard/request_index" default="$(arg index_s_0)" />
|
||||||
|
|
||||||
|
<!-- disparity computing method type -->
|
||||||
|
<arg name="sgbm" default="0" />
|
||||||
|
<arg name="bm" default="1" />
|
||||||
|
<arg name="disparity_computing_method" default="$(arg bm)" />
|
||||||
|
|
||||||
|
<arg name="enable_left_rect" default="false" />
|
||||||
|
<arg name="enable_right_rect" default="false" />
|
||||||
|
<arg name="enable_disparity" default="false" />
|
||||||
|
<arg name="enable_disparity_norm" default="false" />
|
||||||
|
<arg name="enable_points" default="false" />
|
||||||
|
<arg name="enable_depth" default="false" />
|
||||||
|
|
||||||
|
<!-- device options of standard, -1 will not set the value -->
|
||||||
|
|
||||||
|
<!-- standard/gain range: [0,48] -->
|
||||||
|
<arg name="standard/gain" default="-1" />
|
||||||
|
<!-- <arg name="standard/gain" default="24" /> -->
|
||||||
|
|
||||||
|
<!-- standard/brightness range: [0,240] -->
|
||||||
|
<arg name="standard/brightness" default="-1" />
|
||||||
|
<!-- <arg name="standard/brightness" default="120" /> -->
|
||||||
|
|
||||||
|
<!-- contrast range: [0,255] -->
|
||||||
|
<arg name="standard/contrast" default="-1" />
|
||||||
|
<!-- <arg name="standard/contrast" default="127" /> -->
|
||||||
|
|
||||||
|
<!-- standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
|
||||||
|
<arg name="standard/frame_rate" default="-1" />
|
||||||
|
<!-- <arg name="standard/frame_rate" default="25" /> -->
|
||||||
|
|
||||||
|
<!-- standard/imu_frequency range: {100,200,250,333,500} -->
|
||||||
|
<arg name="standard/imu_frequency" default="-1" />
|
||||||
|
<!-- <arg name="standard/imu_frequency" default="200" /> -->
|
||||||
|
|
||||||
|
<!-- standard/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
|
||||||
|
<arg name="standard/exposure_mode" default="-1" />
|
||||||
|
<!-- <arg name="standard/exposure_mode" default="0" /> -->
|
||||||
|
|
||||||
|
<!-- standard/max_gain range: [0,48] -->
|
||||||
|
<arg name="standard/max_gain" default="-1" />
|
||||||
|
<!-- <arg name="standard/max_gain" default="48" /> -->
|
||||||
|
|
||||||
|
<!-- standard/max_exposure_time range: [0,240] -->
|
||||||
|
<arg name="standard/max_exposure_time" default="-1" />
|
||||||
|
<!-- <arg name="standard/max_exposure_time" default="240" /> -->
|
||||||
|
|
||||||
|
<!-- standard/desired_brightness range: [0,255] -->
|
||||||
|
<arg name="standard/desired_brightness" default="-1" />
|
||||||
|
<!-- <arg name="standard/desired_brightness" default="192" /> -->
|
||||||
|
|
||||||
|
<!-- standard/ir_control range: [0,160] -->
|
||||||
|
<arg name="standard/ir_control" default="80" />
|
||||||
|
<!-- <arg name="standard/ir_control" default="0" /> -->
|
||||||
|
|
||||||
|
<!-- standard/hdr_mode, 0: 10-bit, 1: 12-bit -->
|
||||||
|
<arg name="standard/hdr_mode" default="-1" />
|
||||||
|
<!-- <arg name="standard/hdr_mode" default="0" /> -->
|
||||||
|
|
||||||
|
<!-- standard/accel_range range: {4,8,16,32} -->
|
||||||
|
<arg name="standard/accel_range" default="-1" />
|
||||||
|
<!-- <arg name="standard/accel_range" default="8" /> -->
|
||||||
|
|
||||||
|
<!-- standard/gyro_range range: {500,1000,2000,4000} -->
|
||||||
|
<arg name="standard/gyro_range" default="-1" />
|
||||||
|
<!-- <arg name="standard/gyro_range" default="1000" /> -->
|
||||||
|
|
||||||
|
<!-- device options of standard2, -1 will not set the value -->
|
||||||
|
|
||||||
|
<!-- standard2/brightness range: [0,240] -->
|
||||||
|
<arg name="standard2/brightness" default="-1" />
|
||||||
|
<!-- <arg name="standard2/brightness" default="120" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
|
||||||
|
<arg name="standard2/exposure_mode" default="-1" />
|
||||||
|
<!-- <arg name="standard2/exposure_mode" default="0" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/max_gain range: [0,255] -->
|
||||||
|
<arg name="standard2/max_gain" default="-1" />
|
||||||
|
<!-- <arg name="standard2/max_gain" default="8" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/max_exposure_time range: [0,1000] -->
|
||||||
|
<arg name="standard2/max_exposure_time" default="-1" />
|
||||||
|
<!-- <arg name="standard2/max_exposure_time" default="333" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/desired_brightness range: [1,255] -->
|
||||||
|
<arg name="standard2/desired_brightness" default="-1" />
|
||||||
|
<!-- <arg name="standard2/desired_brightness" default="122" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/min_exposure_time range: [0,1000] -->
|
||||||
|
<arg name="standard2/min_exposure_time" default="-1" />
|
||||||
|
<!-- <arg name="standard2/min_exposure_time" default="0" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/ir_control range: [0,160] -->
|
||||||
|
<arg name="standard2/ir_control" default="80" />
|
||||||
|
<!-- <arg name="standard2/ir_control" default="0" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/accel_range range: [6,48] -->
|
||||||
|
<arg name="standard2/accel_range" default="24" />
|
||||||
|
<!-- <arg name="standard2/accel_range" default="6" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/gyro_range range: [250,4000] -->
|
||||||
|
<arg name="standard2/gyro_range" default="-1" />
|
||||||
|
<!-- <arg name="standard2/gyro_range" default="1000" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/accel_low_filter range: [0,2] -->
|
||||||
|
<arg name="standard2/accel_low_filter" default="-1" />
|
||||||
|
<!-- <arg name="standard2/accel_low_filter" default="2" /> -->
|
||||||
|
|
||||||
|
<!-- standard2/gyro_low_filter range: [23,64] -->
|
||||||
|
<arg name="standard2/gyro_low_filter" default="-1" />
|
||||||
|
<!-- <arg name="standard2/gyro_low_filter" default="64" /> -->
|
||||||
|
|
||||||
|
<!-- device options of standard210a, -1 will not set the value -->
|
||||||
|
|
||||||
|
<!-- standard210a/brightness range: [0,240] -->
|
||||||
|
<arg name="standard210a/brightness" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/brightness" default="120" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure -->
|
||||||
|
<arg name="standard210a/exposure_mode" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/exposure_mode" default="0" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/max_gain range: [0,255] -->
|
||||||
|
<arg name="standard210a/max_gain" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/max_gain" default="8" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/max_exposure_time range: [0,1000] -->
|
||||||
|
<arg name="standard210a/max_exposure_time" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/max_exposure_time" default="333" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/desired_brightness range: [1,255] -->
|
||||||
|
<arg name="standard210a/desired_brightness" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/desired_brightness" default="122" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/min_exposure_time range: [0,1000] -->
|
||||||
|
<arg name="standard210a/min_exposure_time" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/min_exposure_time" default="0" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/accel_range range: [6,48] -->
|
||||||
|
<arg name="standard210a/accel_range" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/accel_range" default="6" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/gyro_range range: [250,4000] -->
|
||||||
|
<arg name="standard210a/gyro_range" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/gyro_range" default="1000" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/accel_low_filter range: [0,2] -->
|
||||||
|
<arg name="standard210a/accel_low_filter" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/accel_low_filter" default="2" /> -->
|
||||||
|
|
||||||
|
<!-- standard210a/gyro_low_filter range: [23,64] -->
|
||||||
|
<arg name="standard210a/gyro_low_filter" default="-1" />
|
||||||
|
<!-- <arg name="standard210a/gyro_low_filter" default="64" /> -->
|
||||||
|
|
||||||
|
<!-- Push down all topics/nodelets into "mynteye" namespace -->
|
||||||
|
<group ns="$(arg mynteye)">
|
||||||
|
|
||||||
|
<!-- mynteye_wrapper_node -->
|
||||||
|
<node name="mynteye_wrapper_node_2" pkg="mynt_eye_ros_wrapper" type="mynteye_wrapper_node" output="screen" respawn="true" respawn_delay="5">
|
||||||
|
|
||||||
|
<!-- node params -->
|
||||||
|
|
||||||
|
<param name="is_multiple" value="$(arg is_multiple)" />
|
||||||
|
<param name="serial_number" value="$(arg serial_number)" />
|
||||||
|
|
||||||
|
<param name="left_topic" value="$(arg left_topic)" />
|
||||||
|
<param name="right_topic" value="$(arg right_topic)" />
|
||||||
|
<param name="left_rect_topic" value="$(arg left_rect_topic)" />
|
||||||
|
<param name="right_rect_topic" value="$(arg right_rect_topic)" />
|
||||||
|
<param name="disparity_topic" value="$(arg disparity_topic)" />
|
||||||
|
<param name="disparity_norm_topic" value="$(arg disparity_norm_topic)" />
|
||||||
|
<param name="points_topic" value="$(arg points_topic)" />
|
||||||
|
<param name="depth_topic" value="$(arg depth_topic)" />
|
||||||
|
<param name="mesh_file" value="$(arg mesh_file)" />
|
||||||
|
|
||||||
|
<param name="left_mono_topic" value="$(arg left_mono_topic)" />
|
||||||
|
<param name="right_mono_topic" value="$(arg right_mono_topic)" />
|
||||||
|
|
||||||
|
<param name="imu_topic" value="$(arg imu_topic)" />
|
||||||
|
<param name="temperature_topic" value="$(arg temperature_topic)" />
|
||||||
|
|
||||||
|
<param name="base_frame_id" value="$(arg base_frame_id)" />
|
||||||
|
<param name="left_frame_id" value="$(arg left_frame_id)" />
|
||||||
|
<param name="right_frame_id" value="$(arg right_frame_id)" />
|
||||||
|
<param name="left_rect_frame_id" value="$(arg left_rect_frame_id)" />
|
||||||
|
<param name="right_rect_frame_id" value="$(arg right_rect_frame_id)" />
|
||||||
|
<param name="disparity_frame_id" value="$(arg disparity_frame_id)" />
|
||||||
|
<param name="disparity_norm_frame_id" value="$(arg disparity_norm_frame_id)" />
|
||||||
|
<param name="points_frame_id" value="$(arg points_frame_id)" />
|
||||||
|
<param name="depth_frame_id" value="$(arg depth_frame_id)" />
|
||||||
|
|
||||||
|
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
|
||||||
|
|
||||||
|
<param name="gravity" value="$(arg gravity)" />
|
||||||
|
|
||||||
|
<param name="disparity_computing_method" value="$(arg disparity_computing_method)" />
|
||||||
|
|
||||||
|
<!-- stream toggles -->
|
||||||
|
|
||||||
|
<param name="enable_left_rect" value="$(arg enable_left_rect)" />
|
||||||
|
<param name="enable_right_rect" value="$(arg enable_right_rect)" />
|
||||||
|
<param name="enable_disparity" value="$(arg enable_disparity)" />
|
||||||
|
<param name="enable_disparity_norm" value="$(arg enable_disparity_norm)" />
|
||||||
|
<param name="enable_points" value="$(arg enable_points)" />
|
||||||
|
<param name="enable_depth" value="$(arg enable_depth)" />
|
||||||
|
|
||||||
|
<!-- stream request index -->
|
||||||
|
<param name="standard/request_index" value="$(arg standard/request_index)" />
|
||||||
|
<param name="standard2/request_index" value="$(arg standard2/request_index)" />
|
||||||
|
|
||||||
|
<!-- device options of standard-->
|
||||||
|
|
||||||
|
<param name="standard/gain" value="$(arg standard/gain)" />
|
||||||
|
<param name="standard/brightness" value="$(arg standard/brightness)" />
|
||||||
|
<param name="standard/contrast" value="$(arg standard/contrast)" />
|
||||||
|
<param name="standard/frame_rate" value="$(arg standard/frame_rate)" />
|
||||||
|
<param name="standard/imu_frequency" value="$(arg standard/imu_frequency)" />
|
||||||
|
<param name="standard/exposure_mode" value="$(arg standard/exposure_mode)" />
|
||||||
|
<param name="standard/max_gain" value="$(arg standard/max_gain)" />
|
||||||
|
<param name="standard/max_exposure_time" value="$(arg standard/max_exposure_time)" />
|
||||||
|
<param name="standard/desired_brightness" value="$(arg standard/desired_brightness)" />
|
||||||
|
<param name="standard/ir_control" value="$(arg standard/ir_control)" />
|
||||||
|
<param name="standard/hdr_mode" value="$(arg standard/hdr_mode)" />
|
||||||
|
<param name="standard/accel_range" value="$(arg standard/accel_range)" />
|
||||||
|
<param name="standard/gyro_range" value="$(arg standard/gyro_range)" />
|
||||||
|
|
||||||
|
<!-- device options of standard2-->
|
||||||
|
|
||||||
|
<param name="standard2/brightness" value="$(arg standard2/brightness)" />
|
||||||
|
<param name="standard2/exposure_mode" value="$(arg standard2/exposure_mode)" />
|
||||||
|
<param name="standard2/max_gain" value="$(arg standard2/max_gain)" />
|
||||||
|
<param name="standard2/max_exposure_time" value="$(arg standard2/max_exposure_time)" />
|
||||||
|
<param name="standard2/desired_brightness" value="$(arg standard2/desired_brightness)" />
|
||||||
|
<param name="standard2/min_exposure_time" value="$(arg standard2/min_exposure_time)" />
|
||||||
|
<param name="standard2/ir_control" value="$(arg standard2/ir_control)" />
|
||||||
|
<param name="standard2/accel_range" value="$(arg standard2/accel_range)" />
|
||||||
|
<param name="standard2/gyro_range" value="$(arg standard2/gyro_range)" />
|
||||||
|
<param name="standard2/accel_low_filter" value="$(arg standard2/accel_low_filter)" />
|
||||||
|
<param name="standard2/gyro_low_filter" value="$(arg standard2/gyro_low_filter)" />
|
||||||
|
|
||||||
|
<!-- device options of standard210a-->
|
||||||
|
|
||||||
|
<param name="standard210a/brightness" value="$(arg standard210a/brightness)" />
|
||||||
|
<param name="standard210a/exposure_mode" value="$(arg standard210a/exposure_mode)" />
|
||||||
|
<param name="standard210a/max_gain" value="$(arg standard210a/max_gain)" />
|
||||||
|
<param name="standard210a/max_exposure_time" value="$(arg standard210a/max_exposure_time)" />
|
||||||
|
<param name="standard210a/desired_brightness" value="$(arg standard210a/desired_brightness)" />
|
||||||
|
<param name="standard210a/min_exposure_time" value="$(arg standard210a/min_exposure_time)" />
|
||||||
|
<param name="standard210a/accel_range" value="$(arg standard210a/accel_range)" />
|
||||||
|
<param name="standard210a/gyro_range" value="$(arg standard210a/gyro_range)" />
|
||||||
|
<param name="standard210a/accel_low_filter" value="$(arg standard210a/accel_low_filter)" />
|
||||||
|
<param name="standard210a/gyro_low_filter" value="$(arg standard210a/gyro_low_filter)" />
|
||||||
|
|
||||||
|
</node>
|
||||||
|
|
||||||
|
<!-- disable compressed depth plugin for image topics -->
|
||||||
|
<group ns="$(arg left_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg left_rect_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg left_mono_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_mono_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg right_rect_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg disparity_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg disparity_norm_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
<group ns="$(arg depth_topic)">
|
||||||
|
<rosparam param="disable_pub_plugins">
|
||||||
|
- 'image_transport/compressedDepth'
|
||||||
|
</rosparam>
|
||||||
|
</group>
|
||||||
|
</group> <!-- mynteye -->
|
||||||
|
</launch>
|
||||||
|
|
@ -1034,39 +1034,9 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
||||||
|
|
||||||
private:
|
private:
|
||||||
void initDevice() {
|
void initDevice() {
|
||||||
NODELET_INFO_STREAM("Detecting MYNT EYE devices");
|
|
||||||
|
|
||||||
Context context;
|
|
||||||
auto &&devices = context.devices();
|
|
||||||
|
|
||||||
size_t n = devices.size();
|
|
||||||
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
|
|
||||||
|
|
||||||
NODELET_INFO_STREAM("MYNT EYE devices:");
|
|
||||||
for (size_t i = 0; i < n; i++) {
|
|
||||||
auto &&device = devices[i];
|
|
||||||
auto &&name = device->GetInfo(Info::DEVICE_NAME);
|
|
||||||
NODELET_INFO_STREAM(" index: " << i << ", name: " << name);
|
|
||||||
}
|
|
||||||
|
|
||||||
std::shared_ptr<Device> device = nullptr;
|
std::shared_ptr<Device> device = nullptr;
|
||||||
if (n <= 1) {
|
|
||||||
device = devices[0];
|
device = selectDevice();
|
||||||
NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0");
|
|
||||||
} else {
|
|
||||||
while (true) {
|
|
||||||
size_t i;
|
|
||||||
NODELET_INFO_STREAM(
|
|
||||||
"There are " << n << " MYNT EYE devices, select index: ");
|
|
||||||
std::cin >> i;
|
|
||||||
if (i >= n) {
|
|
||||||
NODELET_WARN_STREAM("Index out of range :(");
|
|
||||||
continue;
|
|
||||||
}
|
|
||||||
device = devices[i];
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
api_ = API::Create(device);
|
api_ = API::Create(device);
|
||||||
auto &&requests = device->GetStreamRequests();
|
auto &&requests = device->GetStreamRequests();
|
||||||
|
|
@ -1115,6 +1085,82 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
|
||||||
computeRectTransforms();
|
computeRectTransforms();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
std::shared_ptr<Device> selectDevice() {
|
||||||
|
NODELET_INFO_STREAM("Detecting MYNT EYE devices");
|
||||||
|
|
||||||
|
Context context;
|
||||||
|
auto &&devices = context.devices();
|
||||||
|
|
||||||
|
bool is_multiple = false;
|
||||||
|
private_nh_.getParam("is_multiple", is_multiple);
|
||||||
|
if (is_multiple) {
|
||||||
|
std::string sn;
|
||||||
|
private_nh_.getParam("serial_number", sn);
|
||||||
|
NODELET_FATAL_COND(sn.empty(), "Must set serial_number "
|
||||||
|
"in mynteye_1.launch and mynteye_2.launch.");
|
||||||
|
|
||||||
|
size_t n = devices.size();
|
||||||
|
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
|
||||||
|
|
||||||
|
NODELET_INFO_STREAM("MYNT EYE devices:");
|
||||||
|
for (size_t i = 0; i < n; i++) {
|
||||||
|
auto &&device = devices[i];
|
||||||
|
auto &&name = device->GetInfo(Info::DEVICE_NAME);
|
||||||
|
auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
|
||||||
|
NODELET_INFO_STREAM(" index: " << i << ", name: " <<
|
||||||
|
name << ", serial number: " << serial_number);
|
||||||
|
}
|
||||||
|
for (size_t i = 0; i < n; i++) {
|
||||||
|
auto &&device = devices[i];
|
||||||
|
auto &&name = device->GetInfo(Info::DEVICE_NAME);
|
||||||
|
auto &&serial_number = device->GetInfo(Info::SERIAL_NUMBER);
|
||||||
|
NODELET_INFO_STREAM(" index: " << i << ", name: " <<
|
||||||
|
name << ", serial number: " << serial_number);
|
||||||
|
if (sn == serial_number)
|
||||||
|
return device;
|
||||||
|
#if 0
|
||||||
|
if (i == (n - 1)) {
|
||||||
|
/*
|
||||||
|
NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
|
||||||
|
" check the serial_number configuration. ");
|
||||||
|
*/
|
||||||
|
NODELET_FATAL_COND(i == (n - 1), "No corresponding device was found,"
|
||||||
|
" check the serial_number configuration. ");
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
}
|
||||||
|
size_t n = devices.size();
|
||||||
|
NODELET_FATAL_COND(n <= 0, "No MYNT EYE devices :(");
|
||||||
|
|
||||||
|
NODELET_INFO_STREAM("MYNT EYE devices:");
|
||||||
|
for (size_t i = 0; i < n; i++) {
|
||||||
|
auto &&device = devices[i];
|
||||||
|
auto &&name = device->GetInfo(Info::DEVICE_NAME);
|
||||||
|
NODELET_INFO_STREAM(" index: " << i << ", name: " << name);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (n <= 1) {
|
||||||
|
NODELET_INFO_STREAM("Only one MYNT EYE device, select index: 0");
|
||||||
|
return devices[0];
|
||||||
|
} else {
|
||||||
|
while (true) {
|
||||||
|
size_t i;
|
||||||
|
NODELET_INFO_STREAM(
|
||||||
|
"There are " << n << " MYNT EYE devices, select index: ");
|
||||||
|
std::cin >> i;
|
||||||
|
if (i >= n) {
|
||||||
|
NODELET_WARN_STREAM("Index out of range :(");
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
return devices[i];
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
return nullptr;
|
||||||
|
}
|
||||||
|
|
||||||
std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
|
std::shared_ptr<IntrinsicsBase> getDefaultIntrinsics() {
|
||||||
auto res = std::make_shared<IntrinsicsPinhole>();
|
auto res = std::make_shared<IntrinsicsPinhole>();
|
||||||
res->width = 640;
|
res->width = 640;
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue
Block a user