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Adapt ceiling cam package to camera driver
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bitbots_misc/bitbots_ceiling_cam/config/camera_settings_ceiling_cam.yaml
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| /**: | ||
| /ceiling_cam_publisher: | ||
| ros__parameters: | ||
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| # The tf frame under which the images were published | ||
| camera_frame: ceiling_cam | ||
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| # The DeviceUserID of the camera. If empty, the first camera found in the | ||
| # device list will be used | ||
| # device_user_id: "" | ||
| # The tf frame under which the images were published | ||
| camera_frame_id: ceiling_cam | ||
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| # The CameraInfo URL (Uniform Resource Locator) where the optional intrinsic | ||
| # camera calibration parameters are stored. This URL string will be parsed | ||
| # from the ROS-CameraInfoManager: | ||
| # http://docs.ros.org/api/camera_info_manager/html/classcamera__info__manager_ | ||
| # 1_1CameraInfoManager.html#details | ||
| camera_info_url: "package://bitbots_ceiling_cam/config/camera_calibration_ceiling_cam.yaml" | ||
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| # The encoding of the pixels -- channel meaning, ordering, size | ||
| # taken from the list of strings in include/sensor_msgs/image_encodings.h | ||
| # The supported encodings are 'mono8', 'bgr8', 'rgb8', 'bayer_bggr8', | ||
| # 'bayer_gbrg8' and 'bayer_rggb8' | ||
| # Default values are 'mono8' and 'rgb8' | ||
| image_encoding: "bayer_rggb8" | ||
| # The name of the camera (used to discover the camera). The name can be set in the pylon viewer. | ||
| device_user_id: ceiling_cam | ||
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| # Binning factor to get downsampled images. It refers here to any camera | ||
| # setting which combines rectangular neighborhoods of pixels into larger | ||
| # "super-pixels." It reduces the resolution of the output image to | ||
| # (width / binning_x) x (height / binning_y). | ||
| # The default values binning_x = binning_y = 0 are considered the same | ||
| # as binning_x = binning_y = 1 (no subsampling). | ||
| # binning_x: 4 | ||
| # binning_y: 4 | ||
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| # The desired publisher frame rate if listening to the topics. | ||
| # This parameter can only be set once at startup | ||
| # Calling the GrabImages-Action can result in a higher framerate | ||
| frame_rate: 20.0 | ||
| # The CameraInfo URL (Uniform Resource Locator) where the optional intrinsic | ||
| # camera calibration parameters are stored. This URL string will be parsed | ||
| # from the ROS-CameraInfoManager: | ||
| # http://docs.ros.org/api/camera_info_manager/html/classcamera__info__manager_1_1CameraInfoManager.html#details | ||
| camera_info_url: "package://bitbots_ceiling_cam/config/camera_calibration_ceiling_cam.yaml" | ||
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| # Mode of camera's shutter. | ||
| # The supported modes are "rolling", "global" and "global_reset" | ||
| # Default value is "" (empty) means default_shutter_mode | ||
| shutter_mode: "global" | ||
| # No subsampling is used for the ceiling camera | ||
| binning_factor_x: 1 | ||
| binning_factor_y: 1 | ||
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| ########################################################################## | ||
| ######################## Image Intensity Settings ######################## | ||
| ########################################################################## | ||
| # The following settings do *NOT* have to be set. Each camera has default | ||
| # values which provide an automatic image adjustment resulting in valid | ||
| # images | ||
| ########################################################################## | ||
| # The target frame rate | ||
| fps: 20.0 | ||
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| # The exposure time in microseconds to be set after opening the camera. | ||
| # The exposure time in microseconds | ||
| exposure: 8000.0 | ||
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| # The target gain in percent of the maximal value the camera supports | ||
| # For USB-Cameras, the gain is in dB, for GigE-Cameras it is given in so | ||
| # called 'device specific units'. | ||
| gain: 0.3 | ||
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| # Gamma correction of pixel intensity. | ||
| # Adjusts the brightness of the pixel values output by the camera's sensor | ||
| # to account for a non-linearity in the human perception of brightness or | ||
| # of the display system (such as CRT). | ||
| gamma: 1.0 | ||
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| # The average intensity value of the images. It depends the exposure time | ||
| # as well as the gain setting. If 'exposure' is provided, the interface will | ||
| # try to reach the desired brightness by only varying the gain. (What may | ||
| # often fail, because the range of possible exposure vaules is many | ||
| # times higher than the gain range). If 'gain' is provided, the interface will | ||
| # try to reach the desired brightness by only varying the exposure time. If | ||
| # gain AND exposure are given, it is not possible to reach the brightness, | ||
| # because both are assumed to be fix. | ||
| # brightness: 100 | ||
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| # Only relevant, if 'brightness' is set: | ||
| # The brightness_continuous flag controls the auto brightness function. | ||
| # If it is set to false, the brightness will only be reached once. | ||
| # Hence changing light conditions lead to changing brightness values. | ||
| # If it is set to true, the given brightness will be reached continuously, | ||
| # trying to adapt to changing light conditions. This is only possible for | ||
| # values in the possible auto range of the pylon API which is e.g. [50 - 205] | ||
| # for acA2500-14um and acA1920-40gm | ||
| # brightness_continuous: true | ||
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| # Only relevant, if 'brightness' is set: | ||
| # If the camera should try to reach and / or keep the brightness, hence | ||
| # adapting to changing light conditions, at least one of the following flags | ||
| # must be set. | ||
| # If both are set, the interface will use the profile that tries to keep the | ||
| # gain at minimum to reduce white noise. | ||
| # The exposure_auto flag indicates, that the desired brightness will be | ||
| # reached by adapting the exposure time. | ||
| # The gain_auto flag indicates, that the desired brightness will be | ||
| # reached by adapting the gain. | ||
| # exposure_auto: true | ||
| # gain_auto: true | ||
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| ########################################################################## | ||
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| # The timeout while searching the exposure which is connected to the | ||
| # desired brightness. For slow system this has to be increased. | ||
| # exposure_search_timeout: 5.0 | ||
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| # The exposure search can be limited with an upper bound. This is to prevent | ||
| # very high exposure times and resulting timeouts. | ||
| # A typical value for this upper bound is ~2000000us. | ||
| # auto_exposure_upper_limit: 2000000.0 | ||
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| # The MTU size. Only used for GigE cameras. | ||
| # To prevent lost frames configure the camera has to be configured | ||
| # with the MTU size the network card supports. A value greater 3000 | ||
| # should be good (1500 for RaspberryPI) | ||
| # gige: | ||
| # gige/mtu_size: 9000 | ||
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| # Only used for GigE cameras. | ||
| # The inter-package delay in ticks to prevent lost frames. | ||
| # For most of GigE-Cameras, a value of 1000 is reasonable. | ||
| # For cameras used on a RaspberryPI this value should be set to 11772. | ||
| # gige: | ||
| # gige/inter_pkg_delay: 1000 | ||
| # The target raw gain of the camera sensor (similar to ISO) | ||
| gain: 150 |
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| <maintainer email="[email protected]">Marc Bestmann</maintainer> | ||
| <maintainer email="[email protected]">Hamburg Bit-Bots</maintainer> | ||
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| <license>MIT</license> | ||
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| <author email="[email protected]">Hamburg Bit-Bots</author> | ||
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| <depend>apriltag_ros</depend> | ||
| <depend>bitbots_basler_camera</depend> | ||
| <depend>bitbots_docs</depend> | ||
| <depend>pylon_ros2_camera_wrapper</depend> | ||
| <depend>image_proc</depend> | ||
| <depend>tf2_ros</depend> | ||
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