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00038 PACKAGE='wge100_camera'
00039 import roslib; roslib.load_manifest(PACKAGE)
00040
00041 from driver_base.msg import SensorLevels
00042 from dynamic_reconfigure.parameter_generator import *
00043
00044 def add_others(gen):
00045 enum_register_set = gen.enum([
00046 gen.const("PrimaryRegisterSet", int_t, 0, "The primary register set is always used."),
00047 gen.const("AlternateRegisterSet", int_t, 1, "The alternate register set is always used."),
00048 gen.const("Auto", int_t, 2, "The trigger signal selects which register set to use.")],
00049 "Some wge100 cameras have two register sets. You can chose either set, or have the trigger signal select one of the sets. The camera images will go to camera or camera_alternate depending on which register set is active.")
00050
00051
00052
00053 gen.add("frame_id", str_t, SensorLevels.RECONFIGURE_RUNNING, "Sets the TF frame from which the camera is publishing.", "")
00054 gen.add("register_set", int_t, SensorLevels.RECONFIGURE_CLOSE, "Select the register set to work with. In auto mode, an extra pulse on the trigger signal indicates that the alternate set should be used.", 0, 0, 3, enum_register_set)
00055
00056 gen.add("width", int_t, SensorLevels.RECONFIGURE_CLOSE, "Number of pixels horizontally.", 640, 1, 752)
00057 gen.add("height", int_t, SensorLevels.RECONFIGURE_CLOSE, "Number of pixels vertically.", 480, 1, 480)
00058 gen.add("horizontal_binning", int_t, SensorLevels.RECONFIGURE_CLOSE, "Number of pixels to bin together horizontally.", 1, 1, 4)
00059 gen.add("vertical_binning", int_t, SensorLevels.RECONFIGURE_CLOSE, "Number of pixels to bin together vertically.", 1, 1, 4)
00060 gen.add("x_offset", int_t, SensorLevels.RECONFIGURE_CLOSE, "Horizontal offset between the center of the image and the center of the imager in pixels.", 0, 0, 752)
00061 gen.add("y_offset", int_t, SensorLevels.RECONFIGURE_CLOSE, "Vertical offset between the center of the image and the center of the imager in pixels.", 0, 0, 480)
00062 gen.add("mirror_x", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Mirrors the image left to right.", False)
00063 gen.add("mirror_y", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Mirrors the image top to bottom.", False)
00064 gen.add("rotate_180", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Rotates the image 180 degrees. Acts in addition to the mirorr parameters", False)
00065
00066 gen.add("imager_rate", double_t, SensorLevels.RECONFIGURE_CLOSE, "Sets the frame rate of the imager. In externally triggered mode this must be more than trig_rate", 30, 1, 100)
00067 gen.add("ext_trig", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Set camera to trigger from the external trigger input.", False)
00068 gen.add("rising_edge_trig", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Indicates that the camera should trigger on rising edges (as opposed to falling edges).", True)
00069 gen.add("trig_timestamp_topic", str_t, SensorLevels.RECONFIGURE_CLOSE, "Sets the topic from which an externally trigged camera receives its trigger timestamps.", "")
00070 gen.add("trig_rate", double_t, SensorLevels.RECONFIGURE_CLOSE, "Sets the expected triggering rate in externally triggered mode.", 30, 1, 100)
00071 gen.add("first_packet_offset", double_t, SensorLevels.RECONFIGURE_RUNNING, "Offset between the end of exposure and the minimal arrival time for the first frame packet. Only used when using internal triggering.", 0.0025, 0, .02)
00072
00073 gen.add("brightness", int_t, SensorLevels.RECONFIGURE_CLOSE, "The camera brightness for automatic gain/exposure.", 58, 1, 64)
00074 gen.add("auto_black_level", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Enables the automatic black-level detection.", False)
00075 gen.add("black_level_filter_length", int_t, SensorLevels.RECONFIGURE_CLOSE, "Base 2 logarithm of the number of frames the black-level algorithm should average over.", 4, 0, 7)
00076 gen.add("black_level_step_size", int_t, SensorLevels.RECONFIGURE_CLOSE, "Maximum per-frame change in the auto black-level.", 2, 0, 31)
00077 gen.add("black_level", int_t, SensorLevels.RECONFIGURE_CLOSE, "Sets the black level.", 0, -127, 127)
00078 gen.add("max_exposure", double_t, SensorLevels.RECONFIGURE_CLOSE, "Maximum exposure time in seconds in automatic exposure mode. Zero for automatic.", 0, 0, .1)
00079
00080 gen.add("auto_exposure", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Sets the camera exposure duration to automatic. Causes the exposure setting to be ignored.", True)
00081 gen.add("exposure", double_t, SensorLevels.RECONFIGURE_CLOSE, "Maximum camera exposure time in seconds. The valid range depends on the video mode.", 0.01, 0, 0.1)
00082 gen.add("auto_gain", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Sets the analog gain to automatic. Causes the gain setting to be ignored.", True)
00083 gen.add("gain", int_t, SensorLevels.RECONFIGURE_CLOSE, "The camera analog gain.", 32, 16, 127)
00084 gen.add("companding", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Turns on companding (a non-linear intensity scaling to improve sensitivity in dark areas).", True)
00085
00086 gen.add("auto_exposure_alternate", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Sets the alternate camera exposure duration to automatic. Causes the exposure_alternate setting to be ignored.", True)
00087 gen.add("exposure_alternate", double_t, SensorLevels.RECONFIGURE_CLOSE, "Alternate camera exposure in seconds. The valid range depends on the video mode.", 0.01, 0, .1)
00088 gen.add("auto_gain_alternate", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Sets the alternate analog gain to automatic. Causes the gain_alternate setting to be ignored.", True)
00089 gen.add("gain_alternate", int_t, SensorLevels.RECONFIGURE_CLOSE, "The alternate camera analog gain.", 32, 16, 127)
00090 gen.add("companding_alternate", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Turns on companding for the alternate imager register set.", True)
00091 gen.add("test_pattern", bool_t, SensorLevels.RECONFIGURE_CLOSE, "Turns on the camera's test pattern.", False)
00092 gen.add("packet_debug", bool_t, SensorLevels.RECONFIGURE_RUNNING, "Enable debug mode for dropped packets in diagnostics", False)