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Merge branch 'master' of ssh://127.0.0.1/var/git/au_automow_common

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2 parents c3a7c4c + 67b9850 commit d0b1d93d63f9ac5df06b9a892d08596b01835e78 Mowbot committed May 25, 2012
Showing with 27 additions and 1 deletion.
  1. +27 −1 automow_bringup/launch/camera.launch
@@ -1,7 +1,9 @@
<launch>
<group ns="stereo">
- <node pkg="camera1394" type="camera1394_node" name="camera1394_node">
+ <!--
+ <node pkg="camera1394" type="camera1394_node" name="camera1394_node"
+ output="screen">
<param name="guid" value="" />
<param name="video_mode" value="format7_mode3" />
<param name="multicam" value="stereo_interlaced" />
@@ -13,9 +15,24 @@
value="file://$(find automow_bringup)/camera_info/right.yaml" />
<remap from="camera" to="/"/>
</node>
+ -->
<node pkg="nodelet" type="nodelet" name="camera_nodelet_manager" args="manager" output="screen"/>
+ <node pkg="nodelet" type="nodelet" name="camera_1394"
+ args="load camera1394/driver camera_nodelet_manager">
+ <param name="guid" value="" />
+ <param name="video_mode" value="format7_mode3" />
+ <param name="multicam" value="stereo_interlaced" />
+ <param name="frame_id" value="bumblebee_optical" />
+ <param name="format7_color_coding" value="raw16"/>
+ <param name="left_camera_info_url"
+ value="file://$(find automow_bringup)/camera_info/left.yaml" />
+ <param name="right_camera_info_url"
+ value="file://$(find automow_bringup)/camera_info/right.yaml" />
+ <remap from="camera" to="/"/>
+ </node>
+
<node pkg="nodelet" type="nodelet" name="image_crop_left"
args="load image_proc/crop_decimate camera_nodelet_manager">
<remap from="camera" to="left"/>
@@ -77,6 +94,15 @@
<remap from="right/image_rect" to="right_out/image_rect"/>
<remap from="left/camera_info" to="left_out/camera_info"/>
<remap from="right/camera_info" to="right_out/camera_info"/>
+ <param name="prefilter_size" value="9"/>
+ <param name="prefilter_cap" value="20"/>
+ <param name="correlation_window_size" value="15"/>
+ <param name="min_disparity" value="1"/>
+ <param name="disparity_range" value="96"/>
+ <param name="uniqueness_ratio" value="13"/>
+ <param name="texture_threshold" value="100"/>
+ <param name="speckle_size" value="50"/>
+ <param name="speckle_range" value="5"/>
</node>
<node pkg="nodelet" type="nodelet" name="disp_to_points"

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