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created rosnode to render images

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admin1
2022-08-15 09:54:33 +03:00
parent fd031c7ecf
commit 1c81d558a8
8 changed files with 277 additions and 67 deletions
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22
ov_msckf/launch/subscribe.launch
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@@ -16,8 +16,8 @@
<!-- <arg name="bag" default="/datasets/$(arg config)/$(arg dataset).bag" />-->
<!-- saving trajectory path and timing information -->
<arg name="dosave" default="false" />
<arg name="dotime" default="false" />
<arg name="dosave" default="true" />
<arg name="dotime" default="true" />
<arg name="path_est" default="/tmp/traj_estimate.txt" />
<arg name="path_time" default="/tmp/traj_timing.txt" />
@@ -28,6 +28,7 @@
<!-- MASTER NODE! -->
<!-- <node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true" launch-prefix="gdb -ex run &#45;&#45;args">-->
<node name="image_render_combine" pkg="ov_msckf" type="image_render_combine" output="screen" clear_params="true" required="true"> </node>
<node name="run_subscribe_msckf" pkg="ov_msckf" type="run_subscribe_msckf" output="screen" clear_params="true" required="true">
<!-- master configuration object -->
@@ -65,6 +66,23 @@
<param name="path_gt" type="str" value="$(arg path_gt)" />
</node>
</group>
<group ns="camera1">
<!-- <node pkg="tf" type="static_transform_publisher" name="camera_broadcaster"
args="0.1 0.1 -0.5 0 0 0 1 map camera1 10" /> -->
<node name="camera_info" pkg="rostopic" type="rostopic"
args="pub camera_info sensor_msgs/CameraInfo
'{header: {seq: 0, stamp: {secs: 0, nsecs: 0}, frame_id: 'cam0'},
height: 480, width: 640, distortion_model: 'plumb_bob',
D: [-5.6143027800000002e-02, 1.3952563200000001e-01, -1.2155906999999999e-03],
K: [500.0, 0.0, 320, 0.0, 500.0, 240.0, 0.0, 0.0, 1.0],
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0],
P: [500.0, 0.0, 320, 0.0, 0.0, 500, 240, 0.0, 0.0, 0.0, 1.0, 0.0],
binning_x: 0, binning_y: 0,
roi: {x_offset: 0, y_offset: 0, height: 480, width: 640, do_rectify: false}}' -r 2"
output="screen"/>
</group>
</launch>