F.Project.2022/camera.launch at main · HackWebster101/F.Project.2022 · GitHub

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<!--
Copyright (c) 2017 Intel Corporation

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

     http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->

<launch>
  <arg name="manager" default="movidius_manager" />
  <arg name="namespace" default="movidius_ncs_nodelet" />
  <arg name="contrast_mode" default="0" />

  <!-- CNN model related parameter -->
  <arg name="cnn_type" default="googlenet" />
  <arg name="output_topic" value="classified_objects_multiple"
       if="$(eval cnn_type == 'alexnet' or cnn_type == 'googlenet'
       or cnn_type == 'inception_v1' or cnn_type == 'inception_v2'
       or cnn_type == 'inception_v3' or cnn_type == 'inception_v4'
       or cnn_type == 'mobilenet' or cnn_type == 'squeezenet')" />
  <arg name="output_topic" value="detected_objects_multiple" if="$(eval cnn_type == 'tinyyolo_v1' or cnn_type == 'mobilenetssd')" />
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/alexnet.yaml" if="$(eval cnn_type == 'alexnet')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/googlenet.yaml" if="$(eval cnn_type == 'googlenet')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/inception_v1.yaml" if="$(eval cnn_type == 'inception_v1')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/inception_v2.yaml" if="$(eval cnn_type == 'inception_v2')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/inception_v3.yaml" if="$(eval cnn_type == 'inception_v3')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/inception_v4.yaml" if="$(eval cnn_type == 'inception_v4')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/mobilenet.yaml" if="$(eval cnn_type == 'mobilenet')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/squeezenet.yaml" if="$(eval cnn_type == 'squeezenet')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/tinyyolo_v1.yaml" if="$(eval cnn_type == 'tinyyolo_v1')"/>
  <arg name="param_file" value="$(find movidius_ncs_launch)/config/mobilenetssd.yaml" if="$(eval cnn_type == 'mobilenetssd')"/>
  <arg name="top_n" default="3" />

  <!-- NCS related parameter -->
  <arg name="max_device_number" default="255" />
  <arg name="start_device_index" default="0" />
  <arg name="log_level" default="1" />

  <!-- camera related parameters -->
  <arg name="camera" default="others" />
  <arg name="input_topic" value="/usb_cam/image_raw" if="$(eval camera == 'usb')" />
  <arg name="input_topic" value="/camera/color/image_raw" if="$(eval camera == 'realsense')" />
  <arg name="input_topic" default="/camera/rgb/image_raw" if="$(eval camera == 'others')" />

  <!-- launch usb camera with the relevant parameters if any -->
  <group if="$(eval camera == 'usb')">
    <arg name="image_width" default="640" />
    <arg name="image_height" default="480" />
    <arg name="video_device" default="/dev/video0" />

    <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
      <param name="video_device" value="$(arg video_device)" />
      <param name="image_width" value="$(arg image_width)" />
      <param name="image_height" value="$(arg image_height)" />
      <param name="pixel_format" value="yuyv" />
      <param name="camera_frame_id" value="usb_cam" />
      <param name="io_method" value="mmap"/>
    </node>
  </group>

  <!-- launch realsense camera with the relevant parameters if any -->
  <group if="$(eval camera == 'realsense')">
    <arg name="color_width" default="640" />
    <arg name="color_height" default="480" />

    <include file="$(find realsense_ros_camera)/launch/rs_camera.launch">
        <arg name="color_width" value="$(arg color_width)" />
        <arg name="color_height" value="$(arg color_height)" />
    </include>
  </group>

  <!-- launch NCS nodelet if no constrast is needed -->
  <group if="$(eval contrast_mode == 0)">
    <group ns="$(arg namespace)">
      <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen" />

      <!-- for classification -->
      <group if="$(eval cnn_type == 'alexnet' or cnn_type == 'googlenet'
             or cnn_type == 'inception_v1' or cnn_type == 'inception_v2'
             or cnn_type == 'inception_v3' or cnn_type == 'inception_v4'
             or cnn_type == 'mobilenet' or cnn_type == 'squeezenet')">
        <include file="$(find movidius_ncs_launch)/launch/includes/ncs_stream_classification.launch">
          <arg name="manager" value="$(arg manager)" />
          <arg name="input_topic" value="$(arg input_topic)" />
          <arg name="output_topic" value="$(arg output_topic)" />
          <arg name="max_device_number" value="$(arg max_device_number)" />
          <arg name="start_device_index" value="$(arg start_device_index)" />
          <arg name="log_level" value="$(arg log_level)" />
          <arg name="top_n" value="$(arg top_n)" />
          <arg name="cnn_type" value="$(arg cnn_type)"  />
          <arg name="param_file" value="$(arg param_file)" />
        </include>
      </group>

    <!-- for detection -->
      <group if="$(eval cnn_type == 'mobilenetssd' or cnn_type == 'tinyyolo_v1')">
        <include file="$(find movidius_ncs_launch)/launch/includes/ncs_stream_detection.launch">
          <arg name="manager" value="$(arg manager)" />
          <arg name="input_topic" value="$(arg input_topic)" />
          <arg name="output_topic" value="$(arg output_topic)" />
          <arg name="max_device_number" value="$(arg max_device_number)" />
          <arg name="start_device_index" value="$(arg start_device_index)" />
          <arg name="log_level" value="$(arg log_level)" />
          <arg name="top_n" value="$(arg top_n)" />
          <arg name="cnn_type" value="$(arg cnn_type)"  />
          <arg name="param_file" value="$(arg param_file)" />
        </include>
      </group>
    </group>
  </group>

  <!-- launch NCS nodelet if no constrast is needed -->
  <group if="$(eval contrast_mode == 1)">
    <group ns="$(arg namespace)">
      <node pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="screen" />

      <!-- for classification -->
      <group if="$(eval cnn_type == 'alexnet' or cnn_type == 'googlenet'
             or cnn_type == 'inception_v1' or cnn_type == 'inception_v2'
             or cnn_type == 'inception_v3' or cnn_type == 'inception_v4'
             or cnn_type == 'mobilenet' or cnn_type == 'squeezenet')">
        <include file="$(find movidius_ncs_launch)/launch/includes/ncs_stream_classification.launch">
          <arg name="manager" value="$(arg manager)" />
          <arg name="input_topic" value="$(arg input_topic)" />
          <arg name="output_topic" value="classified_objects_single" />
          <arg name="max_device_number" value="1" />
          <arg name="start_device_index" value="0" />
          <arg name="log_level" value="$(arg log_level)" />
          <arg name="top_n" value="$(arg top_n)" />
          <arg name="cnn_type" value="$(arg cnn_type)"  />
          <arg name="param_file" value="$(arg param_file)" />
          <arg name="node_name" value="movidius_ncs_stream_single" />
        </include>

        <include file="$(find movidius_ncs_launch)/launch/includes/ncs_stream_classification.launch">
          <arg name="manager" value="$(arg manager)" />
          <arg name="input_topic" value="$(arg input_topic)" />
          <arg name="output_topic" value="$(arg output_topic)" />
          <arg name="max_device_number" value="$(arg max_device_number)" />
          <arg name="start_device_index" value="1" />
          <arg name="log_level" value="$(arg log_level)" />
          <arg name="top_n" value="$(arg top_n)" />
          <arg name="cnn_type" value="$(arg cnn_type)"  />
          <arg name="param_file" value="$(arg param_file)" />
          <arg name="node_name" value="movidius_ncs_stream_multiple" />
        </include>
      </group>

    <!-- for detection -->
      <group if="$(eval cnn_type == 'mobilenetssd' or cnn_type == 'tinyyolo_v1')">
        <include file="$(find movidius_ncs_launch)/launch/includes/ncs_stream_detection.launch">
          <arg name="manager" value="$(arg manager)" />
          <arg name="input_topic" value="$(arg input_topic)" />
          <arg name="output_topic" value="detected_objects_single" />
          <arg name="max_device_number" value="1" />
          <arg name="start_device_index" value="0" />
          <arg name="log_level" value="$(arg log_level)" />
          <arg name="top_n" value="$(arg top_n)" />
          <arg name="cnn_type" value="$(arg cnn_type)"  />
          <arg name="param_file" value="$(arg param_file)" />
          <arg name="node_name" value="movidius_ncs_stream_single" />
        </include>

        <include file="$(find movidius_ncs_launch)/launch/includes/ncs_stream_detection.launch">
          <arg name="manager" value="$(arg manager)" />
          <arg name="input_topic" value="$(arg input_topic)" />
          <arg name="output_topic" value="$(arg output_topic)" />
          <arg name="max_device_number" value="$(arg max_device_number)" />
          <arg name="start_device_index" value="1" />
          <arg name="log_level" value="$(arg log_level)" />
          <arg name="top_n" value="$(arg top_n)" />
          <arg name="cnn_type" value="$(arg cnn_type)"  />
          <arg name="param_file" value="$(arg param_file)" />
          <arg name="node_name" value="movidius_ncs_stream_multiple" />
        </include>

      </group>
    </group>
  </group>
</launch>