56 remappings[
"image_raw"] = image_raw_topic;
57 remappings[
"image_mono"] = image_mono_topic;
58 remappings[
"image_color"] = image_color_topic;
60 manager.
load(debayer_name,
"image_proc/debayer", remappings, my_argv);
64 remappings[
"image_mono"] = image_mono_topic;
65 remappings[
"camera_info"] = camera_info_topic;
66 remappings[
"image_rect"] = image_rect_topic;
68 if (rectify_params.
valid())
70 manager.
load(rectify_mono_name,
"image_proc/rectify", remappings, my_argv);
74 remappings[
"image_mono"] = image_color_topic;
75 remappings[
"camera_info"] = camera_info_topic;
76 remappings[
"image_rect"] = image_rect_color_topic;
78 if (rectify_params.
valid())
80 manager.
load(rectify_color_name,
"image_proc/rectify", remappings, my_argv);
83 int main(
int argc,
char **argv)
85 ros::init(argc, argv,
"stereo_image_proc");
90 ROS_WARN(
"Remapping 'camera' has no effect! Start stereo_image_proc in the " 91 "stereo namespace instead.\nExample command-line usage:\n" 92 "\t$ ROS_NAMESPACE=%s rosrun stereo_image_proc stereo_image_proc",
97 ROS_WARN(
"Started in the global namespace! This is probably wrong. Start " 98 "stereo_image_proc in the stereo namespace.\nExample command-line usage:\n" 99 "\t$ ROS_NAMESPACE=my_stereo rosrun stereo_image_proc stereo_image_proc");
106 if (private_nh.
getParam(
"queue_size", queue_size))
107 shared_params[
"queue_size"] = queue_size;
119 if (private_nh.
getParam(
"approximate_sync", approx_sync))
128 manager.
load(disparity_name,
"stereo_image_proc/disparity", remappings, my_argv);
134 if (shared_params.
valid())
136 manager.
load(point_cloud2_name,
"stereo_image_proc/point_cloud2", remappings, my_argv);
145 check_inputs.
start(topics, 60.0);
void loadMonocularNodelets(nodelet::Loader &manager, const std::string &side, const XmlRpc::XmlRpcValue &rectify_params, const nodelet::V_string &my_argv)
bool load(const std::string &name, const std::string &type, const M_string &remappings, const V_string &my_argv)
void start(const ros::V_string &topics, double duration)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
ROSCPP_DECL const std::string & getName()
ROSCPP_DECL std::string resolve(const std::string &name, bool remap=true)
ROSCPP_DECL void spin(Spinner &spinner)
ROSCPP_DECL void set(const std::string &key, const XmlRpc::XmlRpcValue &v)
std::vector< std::string > V_string
ROSCPP_DECL std::string remap(const std::string &name)
ROSCPP_DECL const std::string & getNamespace()
int main(int argc, char **argv)
bool getParam(const std::string &key, std::string &s) const
std::vector< std::string > V_string
std::map< std::string, std::string > M_string