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raw_image_pipeline_node.launch
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raw_image_pipeline_node.launch
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<launch>
<!-- General options-->
<arg name="camera_name" default="cam0"/>
<arg name="input_topic" default="alphasense_driver_ros/cam0"/>
<arg name="input_type" default="color"/>
<arg name="output_prefix" default="alphasense_driver_ros/cam0"/>
<arg name="output_frame" default="cam0_sensor_frame_helper"/>
<arg name="launch_prefix" default=""/>
<arg name="output_encoding" default="BGR"/> <!-- Format of the published image BGR and RGB supported-->
<arg name="skip_number_of_images_for_slow_topic" default="5"/> <!-- To publish images at a slower rate -->
<arg name="use_gpu" default="false"/> <!-- To publish images at a slower rate -->
<arg name="debug" default="false"/> <!-- to export debug data to /tmp -->
<arg name="disable_compression_plugins" default="true"/> <!-- To avoid publication of theora or compressedDepth topics -->
<!-- Modules -->
<arg name="debayer/enabled" default="true"/>
<arg name="flip/enabled" default="true"/>
<arg name="white_balance/enabled" default="true"/>
<arg name="color_calibration/enabled" default="false"/>
<arg name="gamma_correction/enabled" default="false"/>
<arg name="vignetting_correction/enabled" default="false"/>
<arg name="color_enhancer/enabled" default="false"/>
<arg name="undistortion/enabled" default="true"/>
<!-- Camera -->
<!-- Debayer -->
<arg name="debayer_encoding" default="auto"/> <!-- auto, bayer_bggr8, bayer_gbrg8, bayer_grbg8, bayer_rggb8-->
<!-- Flip -->
<arg name="flip/angle" default="180"/> <!-- 90 (clockwise), 180, 270 (counter-clockwise) -->
<!-- White balance options -->
<arg name="white_balance/method" default="ccc"/> <!-- simple, grey_world, learned, ccc, pca -->
<arg name="white_balance/clipping_percentile" default="10"/> <!-- simple WB, values [0-100]-->
<arg name="white_balance/saturation_bright_thr" default="0.8"/> <!-- grey_world, learned, ccc: [0.0, 1.0] -->
<arg name="white_balance/saturation_dark_thr" default="0.2"/> <!-- ccc-only: [0.0, 1.0] -->
<arg name="white_balance/temporal_consistency" default="false"/> <!-- ccc-only: uses a Kalman filter to track the illuminant estimate -->
<!-- Color calibration -->
<arg name="color_calibration/calibration_file" default="$(find raw_image_pipeline)/config/alphasense_color_calib_example.yaml"/>
<!-- Gamma correction options -->
<arg name="gamma_correction/method" default="custom"/> <!-- default, custom-->
<arg name="gamma_correction/k" default="0.9"/> <!-- k >= 1 -> forward gamma (darker); k < 1 -> inverse gamma (brighter)-->
<!-- Vignetting correction -->
<arg name="vignetting_correction/scale" default="1.5"/> <!-- Linear term -->
<arg name="vignetting_correction/a2" default="0.001"/> <!-- Quadratic term -->
<arg name="vignetting_correction/a4" default="0.000001"/> <!-- Cubic term -->
<!-- HSV color enhancement -->
<arg name="color_enhancer/saturation_gain" default="1.2"/> <!-- gain > 1.0 makes color more vibrant-->
<!-- Undistortion -->
<arg name="undistortion/balance" default="0.5"/> <!-- Balance [0,1] -->
<arg name="undistortion/fov_scale" default="1.2"/> <!-- scale > 1.0 increases the FoV -->
<arg name="undistortion/calibration_file" default="$(find raw_image_pipeline)/config/alphasense_calib_example.yaml"/>
<!-- Disable Image Transport plugins -->
<group if="$(arg disable_compression_plugins)" ns="$(arg output_prefix)">
<rosparam param="debayered/image/disable_pub_plugins">
- 'image_transport/compressedDepth'
- 'image_transport/theora'
</rosparam>
<rosparam param="debayered/slow/disable_pub_plugins">
- 'image_transport/compressedDepth'
- 'image_transport/theora'
</rosparam>
<rosparam param="$(arg input_type)/image/disable_pub_plugins">
- 'image_transport/compressedDepth'
- 'image_transport/theora'
</rosparam>
<rosparam param="$(arg input_type)/slow/disable_pub_plugins">
- 'image_transport/compressedDepth'
- 'image_transport/theora'
</rosparam>
<rosparam param="$(arg input_type)_rect/image/disable_pub_plugins">
- 'image_transport/compressedDepth'
- 'image_transport/theora'
</rosparam>
<rosparam param="$(arg input_type)_rect/slow/disable_pub_plugins">
- 'image_transport/compressedDepth'
- 'image_transport/theora'
</rosparam>
</group>
<!-- Nodes -->
<node name="raw_image_pipeline_ros_node_$(arg camera_name)" type="raw_image_pipeline_ros_node" pkg="raw_image_pipeline_ros" output="screen" launch-prefix="$(arg launch_prefix)">
<param name="input_topic" value="$(arg input_topic)"/>
<param name="input_type" value="$(arg input_type)"/>
<param name="output_prefix" value="$(arg output_prefix)"/>
<param name="output_encoding" value="$(arg output_encoding)"/>
<param name="output_frame" value="$(arg output_frame)"/>
<param name="skip_number_of_images_for_slow_topic" value="$(arg skip_number_of_images_for_slow_topic)"/>
<param name="use_gpu" value="$(arg use_gpu)"/>
<param name="debug" value="$(arg debug)"/>
<param name="debayer/enabled" value="$(arg debayer/enabled)"/>
<param name="debayer/encoding" value="$(arg debayer_encoding)"/>
<param name="flip/enabled" value="$(arg flip/enabled)"/>
<param name="flip/angle" value="$(arg flip/angle)"/>
<param name="white_balance/enabled" value="$(arg white_balance/enabled)"/>
<param name="white_balance/method" value="$(arg white_balance/method)"/>
<param name="white_balance/clipping_percentile" value="$(arg white_balance/clipping_percentile)"/>
<param name="white_balance/saturation_bright_thr" value="$(arg white_balance/saturation_bright_thr)"/>
<param name="white_balance/saturation_dark_thr" value="$(arg white_balance/saturation_dark_thr)"/>
<param name="white_balance/temporal_consistency" value="$(arg white_balance/temporal_consistency)"/>
<param name="color_calibration/enabled" value="$(arg color_calibration/enabled)"/>
<param name="color_calibration/calibration_file" value="$(arg color_calibration/calibration_file)"/>
<param name="gamma_correction/enabled" value="$(arg gamma_correction/enabled)"/>
<param name="gamma_correction/method" value="$(arg gamma_correction/method)"/>
<param name="gamma_correction/k" value="$(arg gamma_correction/k)"/>
<param name="vignetting_correction/enabled" value="$(arg vignetting_correction/enabled)"/>
<param name="vignetting_correction/scale" value="$(arg vignetting_correction/scale)"/>
<param name="vignetting_correction/a2" value="$(arg vignetting_correction/a2)"/>
<param name="vignetting_correction/a4" value="$(arg vignetting_correction/a4)"/>
<param name="color_enhancer/enabled" value="$(arg color_enhancer/enabled)"/>
<param name="color_enhancer/saturation_gain" value="$(arg color_enhancer/saturation_gain)"/>
<param name="undistortion/enabled" value="$(arg undistortion/enabled)"/>
<param name="undistortion/balance" value="$(arg undistortion/balance)"/>
<param name="undistortion/fov_scale" value="$(arg undistortion/fov_scale)"/>
<param name="undistortion/calibration_file" value="$(arg undistortion/calibration_file)"/>
</node>
</launch>