diff --git a/spinnaker_camera_driver/config/oryx.yaml b/spinnaker_camera_driver/config/oryx.yaml new file mode 100644 index 00000000..25f0f8cd --- /dev/null +++ b/spinnaker_camera_driver/config/oryx.yaml @@ -0,0 +1,282 @@ +# +# config file for oryx cameras (10GigE) +# adapted from blackfly_s +# +# This file maps the ros parameters to the corresponding Spinnaker "nodes" in the camera. +# For more details on how to modify this file, see the README on camera configuration files. +# + +parameters: + # + # -------- image format control + # + - name: pixel_format + type: enum + # Check available values with SpinView. Not all are supported by ROS! + # Some formats are e.g. "Mono8", "BayerRG8", "BGR8", "BayerRG16" + # default is "BayerRG8" + node: ImageFormatControl/PixelFormat + - name: isp_enable + type: bool + node: ImageFormatControl/IspEnable + - name: decimation_selector # All, Sensor + type: enum + node: ImageFormatControl/DecimationSelector + # only Discard decimation mode is supported + - name: decimation_horizontal + type: int + node: ImageFormatControl/DecimationHorizontal + - name: decimation_vertical + type: int + node: ImageFormatControl/DecimationVertical + - name: reverse_x + type: bool + node: ImageFormatControl/ReverseX + - name: reverse_y + type: bool + node: ImageFormatControl/ReverseY + - name: adc_bit_depth # "Bit{8,10,12}" + type: enum + node: ImageFormatControl/AdcBitDepth + - name: binning_selector # All, Sensor, ISP + type: enum + node: ImageFormatControl/BinningSelector + - name: binning_horizontal_mode # Sum, Average + type: enum + node: ImageFormatControl/BinningHorizontalMode + - name: binning_vertical_mode # Sum, Average + type: enum + node: ImageFormatControl/BinningVerticalMode + - name: binning_horizontal + type: int + node: ImageFormatControl/BinningHorizontal + - name: binning_vertical + type: int + node: ImageFormatControl/BinningVertical + - name: image_width + type: int + node: ImageFormatControl/Width + - name: image_height + type: int + node: ImageFormatControl/Height + - name: offset_x # offset must come after image width reduction! + type: int + node: ImageFormatControl/OffsetX + - name: offset_y + type: int + node: ImageFormatControl/OffsetY + # + # -------- analog control + # + - name: gain_auto + type: enum + # valid values are "Continuous", "Once", "Off" + node: AnalogControl/GainAuto + - name: gain + type: float + node: AnalogControl/Gain + - name: black_level_selector # "All", "Analog", "Digital" + type: enum + node: AnalogControl/BlackLevelSelector + - name: black_level + type: float + node: AnalogControl/BlackLevel + - name: black_level_clamping_enable + type: bool + node: AnalogControl/BlackLevelClampingEnable + - name: balance_ratio_selector # "Red", "Blue" + type: enum + node: AnalogControl/BalanceRatioSelector + - name: balance_ratio + type: float + node: AnalogControl/BalanceRatio + - name: balance_white_auto # "Continuous", "Once", "Off" + type: enum + node: AnalogControl/BalanceWhiteAuto + - name: gamma + type: float + node: AnalogControl/Gamma + - name: gamma_enable + type: bool + node: AnalogControl/GammaEnable + - name: sharpening_enable + type: bool + node: AnalogControl/SharpeningEnable + - name: sharpening_auto + type: bool + node: AnalogControl/SharpeningAuto + - name: sharpening + type: float + node: AnalogControl/Sharpening + - name: sharpening_threshold + type: float + node: AnalogControl/SharpeningThreshold + - name: gain_conversion # "LCG", "HCG" + type: enum + node: AnalogControl/GainConversion + # + # -------- device link throughput settings + # + - name: device_link_throughput_limit + type: int + node: DeviceControl/DeviceLinkThroughputLimit + - name: device_link_bandwidth_reserve + type: float + node: DeviceControl/DeviceLinkBandwidthReserve + - name: control_packets_reserved_bandwidth + type: int + node: DeviceControl/ControlPacketsReservedBandwidth + # + # -------- transport layer control (GigE) + # + - name: gev_scps_packet_size + type: int + # default is 1400. Set to 9000 to enable jumbo frames, ensure NIC MTU set >= 9000 + node: TransportLayerControl/GigEVision/GevSCPSPacketSize + # + # -------- digital IO control + # + - name: line_selector # Line[0-6] + type: enum + node: DigitalIOControl/LineSelector + - name: line_linemode # depending on selector: "Input", "Output", "" + type: enum + node: DigitalIOControl/LineMode + - name: line_inverter + type: bool + node: DigitalIOControl/LineInverter + - name: line_v33enable # available on Pin 6 + type: bool + node: DigitalIOControl/V3_3Enable + - name: input_filter_selector # "Deglitch", "Debounce" + type: enum + node: DigitalIOControl/InputFilterSelector + - name: line_filter_width + type: float + node: DigitalIOControl/LineFilterWidth + - name: line_source # "On", "Off" + type: enum + node: DigitalIOControl/LineSource + # + # -------- acquisition control + # + - name: exposure_auto + type: enum + # valid values are "Off", "Continuous" + node: AcquisitionControl/ExposureAuto + - name: exposure_time + type: float + node: AcquisitionControl/ExposureTime + - name: exposure_mode + type: enum + node: AcquisitionControl/ExposureMode + - name: frame_rate_enable + type: bool + node: AcquisitionControl/AcquisitionFrameRateEnable + - name: frame_rate + type: float + node: AcquisitionControl/AcquisitionFrameRate + - name: trigger_selector + type: enum + # valid values are e.g. "FrameStart", "AcquisitionStart", "FrameBurstStart" + node: AcquisitionControl/TriggerSelector + - name: trigger_mode + type: enum + # valid values are "On" and "Off" + node: AcquisitionControl/TriggerMode + - name: trigger_source + type: enum + # valid values are "Line<0,1,2>", "UserOutput<0,1,2>", "Counter<0,1>", + # "LogicBlock<0,1>", "Software" + node: AcquisitionControl/TriggerSource + - name: trigger_software + type: command + node: AcquisitionControl/TriggerSoftware + - name: trigger_delay + # value >= 9 + type: float + node: AcquisitionControl/TriggerDelay + - name: trigger_overlap + type: enum + # valid values: "Off" and "ReadOut" + node: AcquisitionControl/TriggerOverlap + - name: acquisition_mode + type: enum + # Continuous, SingleFrame, MultiFrame + node: AcquisitionControl/AcquisitionMode + # + # --------- chunk control + # + - name: chunk_mode_active + type: bool + node: ChunkDataControl/ChunkModeActive + - name: chunk_selector_frame_id + type: enum + # valid values: "FrameID" + node: ChunkDataControl/ChunkSelector + - name: chunk_enable_frame_id + type: bool + node: ChunkDataControl/ChunkEnable + - name: chunk_selector_exposure_time + type: enum + # valid values: "ExposureTime" + node: ChunkDataControl/ChunkSelector + - name: chunk_enable_exposure_time + type: bool + node: ChunkDataControl/ChunkEnable + - name: chunk_selector_gain + type: enum + # valid values: "Gain" + node: ChunkDataControl/ChunkSelector + - name: chunk_enable_gain + type: bool + node: ChunkDataControl/ChunkEnable + - name: chunk_selector_timestamp + type: enum + # valid values: "Timestamp" + node: ChunkDataControl/ChunkSelector + - name: chunk_enable_timestamp + type: bool + node: ChunkDataControl/ChunkEnable + # + # --------- sequencer control + # + - name: sequencer_mode # "On"/"Off" + type: enum + node: SequencerControl/SequencerMode + - name: sequencer_configuration_mode # "On"/"Off" + type: enum + node: SequencerControl/SequencerConfigurationMode + - name: sequencer_feature_selector # "ExposureTime", "Gain" + type: enum + node: SequencerControl/SequencerFeatureSelector + - name: sequencer_feature_enable + type: bool + node: SequencerControl/SequencerFeatureEnable + - name: sequencer_set_start + type: int + node: SequencerControl/SequencerSetStart + - name: sequencer_set_active + type: int + node: SequencerControl/SequencerSetActive + - name: sequencer_set_selector + type: int + node: SequencerControl/SequencerSetSelector + - name: sequencer_set_save + type: command + node: SequencerControl/SequencerSetSave + - name: sequencer_set_load + type: command + node: SequencerControl/SequencerSetLoad + - name: sequencer_path_selector + type: int + node: SequencerControl/SequencerPathSelector + - name: sequencer_trigger_source # "On"/"Off" + type: enum + node: SequencerControl/SequencerTriggerSource + - name: sequencer_trigger_activation + type: enum + node: SequencerControl/SequencerTriggerActivation + - name: sequencer_set_next + type: int + node: SequencerControl/SequencerSetNext