wge100_camera: common_parameters.py Source File

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00001 #! /usr/bin/env python
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00033 
00034 # Author: Blaise Gassend
00035 
00036 # WGE100 camera configuration, non camera-specific settings.
00037 
00038 PACKAGE='wge100_camera'
00039 
00040 from driver_base.msg import SensorLevels
00041 from dynamic_reconfigure.parameter_generator_catkin import *
00042 
00043 def add_others(gen):
00044         enum_register_set = gen.enum([
00045             gen.const("PrimaryRegisterSet",   int_t, 0, "The primary register set is always used."),
00046             gen.const("AlternateRegisterSet", int_t, 1, "The alternate register set is always used."),
00047             gen.const("Auto",                 int_t, 2, "The trigger signal selects which register set to use.")],
00048             "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.")
00049 
00050         #       Name                         Type      Reconfiguration level             Description                                                                                                                                                           Default    Min   Max
00051         #gen.add("exit_on_fault",             bool_t,   SensorLevels.RECONFIGURE_RUNNING, "Indicates if the driver should exit when an error occurs.",                                                                                                          False) 
00052         gen.add("frame_id",                  str_t,    SensorLevels.RECONFIGURE_RUNNING, "Sets the TF frame from which the camera is publishing.",                                                                                                             "")
00053         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)
00054         
00055         gen.add("width",                     int_t,    SensorLevels.RECONFIGURE_CLOSE,   "Number of pixels horizontally.",                                                                                                                                     640,        1,   752)
00056         gen.add("height",                    int_t,    SensorLevels.RECONFIGURE_CLOSE,   "Number of pixels vertically.",                                                                                                                                       480,        1,   480)
00057         gen.add("horizontal_binning",        int_t,    SensorLevels.RECONFIGURE_CLOSE,   "Number of pixels to bin together horizontally.",                                                                                                                     1,          1,   4)
00058         gen.add("vertical_binning",          int_t,    SensorLevels.RECONFIGURE_CLOSE,   "Number of pixels to bin together vertically.",                                                                                                                       1,          1,   4)
00059         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)
00060         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)
00061         gen.add("mirror_x",                  bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Mirrors the image left to right.",                                                                                                                                   False)
00062         gen.add("mirror_y",                  bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Mirrors the image top to bottom.",                                                                                                                                   False)
00063         gen.add("rotate_180",                bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Rotates the image 180 degrees. Acts in addition to the mirorr parameters",                                                                                           False)
00064         
00065         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)
00066         gen.add("ext_trig",                  bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Set camera to trigger from the external trigger input.",                                                                                                             False)
00067         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)
00068         gen.add("trig_timestamp_topic",      str_t,    SensorLevels.RECONFIGURE_CLOSE,   "Sets the topic from which an externally trigged camera receives its trigger timestamps.",                               "")
00069         gen.add("trig_rate",                 double_t, SensorLevels.RECONFIGURE_CLOSE,   "Sets the expected triggering rate in externally triggered mode.",                                                                                                    30,         1,   100)
00070         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)
00071         
00072         gen.add("brightness",                int_t,    SensorLevels.RECONFIGURE_CLOSE,   "The camera brightness for automatic gain/exposure.",                                                                                                                 58,         1,   64)
00073         gen.add("auto_black_level",          bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Enables the automatic black-level detection.",                                                                                                                       False)
00074         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)
00075         gen.add("black_level_step_size",     int_t,    SensorLevels.RECONFIGURE_CLOSE,   "Maximum per-frame change in the auto black-level.",                                                                                                                  2,         0,   31)
00076         gen.add("black_level",               int_t,    SensorLevels.RECONFIGURE_CLOSE,   "Sets the black level.",                                                                                                                                              0,         -127,   127)
00077         gen.add("max_exposure",              double_t, SensorLevels.RECONFIGURE_CLOSE,   "Maximum exposure time in seconds in automatic exposure mode. Zero for automatic.",                                                                                   0,          0,   .1)
00078         
00079         gen.add("auto_exposure",             bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Sets the camera exposure duration to automatic. Causes the exposure setting to be ignored.",                                                                         True)
00080         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)
00081         gen.add("auto_gain",                 bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Sets the analog gain to automatic. Causes the gain setting to be ignored.",                                                                                          True)
00082         gen.add("gain",                      int_t,    SensorLevels.RECONFIGURE_CLOSE,   "The camera analog gain.",                                                                                                                                            32,         16,  127)
00083         gen.add("companding",                bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Turns on companding (a non-linear intensity scaling to improve sensitivity in dark areas).",                                                                         True)
00084         
00085         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)
00086         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)
00087         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)
00088         gen.add("gain_alternate",            int_t,    SensorLevels.RECONFIGURE_CLOSE,   "The alternate camera analog gain.",                                                                                                                                  32,         16,   127)
00089         gen.add("companding_alternate",      bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Turns on companding for the alternate imager register set.",                                                                                                          True)
00090         gen.add("test_pattern",              bool_t,   SensorLevels.RECONFIGURE_CLOSE,   "Turns on the camera's test pattern.",                                                                                                          False)
00091         gen.add("packet_debug",              bool_t,   SensorLevels.RECONFIGURE_RUNNING, "Enable debug mode for dropped packets in diagnostics",                                                                                     False)