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Commit d95f6c11 authored by Angel Santamaria-Navarro's avatar Angel Santamaria-Navarro
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almost working. to verify all dynrec

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launch/iri_mvbluefox3_camera.launch
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− 8
View file @ d95f6c11
<!DOCTYPE html> <!--DOCTYPE html-->
<launch> <launch>
<arg name="num_cams" default="1" /> <arg name="num_cams" default="1" />
<arg name="cam1_name" default="cam1" /> <arg name="cam1_name" default="F0300141" />
<arg name="cam2_name" default="cam2" /> <arg name="cam2_name" default="F0300123" />
<node pkg="iri_mvbluefox3_camera" <node pkg="iri_mvbluefox3_camera"
name="iri_mvbluefox3_camera" name="iri_mvbluefox3_camera"
...@@ -12,13 +12,20 @@ ...@@ -12,13 +12,20 @@
<param name="num_cams" value="$(arg num_cams)"/> <param name="num_cams" value="$(arg num_cams)"/>
<!-- CAMERA 1 -->
<param name="cam1_name" value="$(arg cam1_name)"/> <param name="cam1_name" value="$(arg cam1_name)"/>
<param name="$(arg cam1_name)/calibration_file" value="file://$(find iri_mvbluefox3_camera)/params/F0300141_calib.yaml"/> <rosparam ns="$(arg cam1_name)"
<rosparam command="load" file="$(find iri_mvbluefox3_camera)/params/F0300141_params.yaml" /> file="$(find iri_mvbluefox3_camera)/params/F0300141_params.yaml" command="load"/>
<param name="$(arg cam1_name)/calibration_file"
value="file://$(find iri_mvbluefox3_camera)/params/F0300141_calib.yaml"/>
<param name="cam2_name" value="$(arg cam2_name)"/> <!-- CAMERA 2 -->
<param name="$(arg cam2_name)/calibration_file" value="file://$(find iri_mvbluefox3_camera)/params/F0300123_calib.yaml"/> <param name="cam2_name" value="$(arg cam2_name)"/>
<rosparam command="load" file="$(find iri_mvbluefox3_camera)/params/F0300123_params.yaml" /> <rosparam ns="$(arg cam2_name)"
file="$(find iri_mvbluefox3_camera)/params/F0300123_params.yaml"
command="load"/>
<param name="$(arg cam2_name)/calibration_file"
value="file://$(find iri_mvbluefox3_camera)/params/F0300123_calib.yaml"/>
</node> </node>
......
params/F0300123_params.yaml
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View file @ d95f6c11
cam2: serial: F0300123
serial: F0300123 frame_id: mvbluefox3_F0300123
frame_id: mvbluefox3_F0300123 tf_preix: ""
tf_preix: ""
#Image format #Image format
pixel_format: 1 # e.g. mono8 = 1; rgb8 = 3; pixel_format: 1 # e.g. mono8 = 1; rgb8 = 3;
width: 1280 width: 1280
height: 960 height: 960
img_rot_angle: 0.0 img_rot_angle: 0.0
mirror: 0 mirror: 0
set_aoi: false set_aoi: false
aoi_width: 1280 aoi_width: 1280
aoi_height: 960 aoi_height: 960
aoi_start_x: 0 aoi_start_x: 0
aoi_start_y: 0 aoi_start_y: 0
h_binning_enbl: false h_binning_enbl: false
h_binning: 1 h_binning: 1
v_binning_enbl: false v_binning_enbl: false
v_binning: 1 v_binning: 1
# Acquisition # Acquisition
frame_rate : 100000 frame_rate : 100000
frate_limit_mode: 0 frate_limit_mode: 0
pixel_clock: 66000 pixel_clock: 66000
req_timeout: 2000 req_timeout: 2000
auto_ctrl_enbl: false auto_ctrl_enbl: false
auto_ctrl_speed: 1 auto_ctrl_speed: 1
auto_expose: true auto_expose: true
auto_expose_upperlimit: 32759 auto_expose_upperlimit: 32759
auto_expose_des_grey_val: 50 auto_expose_des_grey_val: 50
expose_us: 10000 expose_us: 10000
auto_gain: false auto_gain: false
gain_db: 0 gain_db: 0
gamma: false gamma: false
# Image processing # Image processing
whiteblnce_auto_enbl: true whiteblnce_auto_enbl: true
wb_r_gain: 1.0 wb_r_gain: 1.0
wb_b_gain: 1.0 wb_b_gain: 1.0
auto_blck_level: true auto_blck_level: true
blck_level: 0 blck_level: 0
hdr_enbl: false hdr_enbl: false
dark_cfilter: 0 dark_cfilter: 0
twist_cfilter: false twist_cfilter: false
\ No newline at end of file \ No newline at end of file
params/F0300141_params.yaml
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View file @ d95f6c11
cam1: serial: F0300141
serial: F0300141 frame_id: mvbluefox3_F0300141
frame_id: mvbluefox3_F0300141 tf_preix: ""
tf_preix: ""
#Image format #Image format
pixel_format: 3 # e.g. mono8 = 1; rgb8 = 3; pixel_format: 1 # e.g. mono8 = 1; rgb8 = 3;
width: 1280 width: 1280
height: 960 height: 960
img_rot_angle: 0.0 img_rot_angle: 0.0
mirror: 0 mirror: 0
set_aoi: false set_aoi: false
aoi_width: 1280 aoi_width: 1280
aoi_height: 960 aoi_height: 960
aoi_start_x: 0 aoi_start_x: 0
aoi_start_y: 0 aoi_start_y: 0
h_binning_enbl: false h_binning_enbl: false
h_binning: 1 h_binning: 1
v_binning_enbl: false v_binning_enbl: false
v_binning: 1 v_binning: 1
# Acquisition # Acquisition
frame_rate : 100000 frame_rate : 100000
frate_limit_mode: 0 frate_limit_mode: 0
pixel_clock: 66000 pixel_clock: 66000
req_timeout: 2000 req_timeout: 2000
auto_ctrl_enbl: false auto_ctrl_enbl: false
auto_ctrl_speed: 1 auto_ctrl_speed: 1
auto_expose: true auto_expose: true
auto_expose_upperlimit: 32759 auto_expose_upperlimit: 32759
auto_expose_des_grey_val: 50 auto_expose_des_grey_val: 50
expose_us: 10000 expose_us: 10000
auto_gain: false auto_gain: false
gain_db: 0 gain_db: 0
gamma: false gamma: false
# Image processing # Image processing
whiteblnce_auto_enbl: true whiteblnce_auto_enbl: true
wb_r_gain: 1.0 wb_r_gain: 1.0
wb_b_gain: 1.0 wb_b_gain: 1.0
auto_blck_level: true auto_blck_level: true
blck_level: 0 blck_level: 0
hdr_enbl: false hdr_enbl: false
dark_cfilter: 0 dark_cfilter: 0
twist_cfilter: false twist_cfilter: false
\ No newline at end of file \ No newline at end of file
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