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 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         #       Name                         Type      Reconfiguration level             Description                                                                                                                                                           Default    Min   Max
00052         #gen.add("exit_on_fault",             bool_t,   SensorLevels.RECONFIGURE_RUNNING, "Indicates if the driver should exit when an error occurs.",                                                                                                          False) 
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)