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zr300_params.cfg
executable file
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zr300_params.cfg
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#!/usr/bin/env python
PACKAGE="realsense_camera"
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# Name Type Level Description Default Min Max
gen.add("enable_depth", bool_t, 0, "Enable Depth", True)
gen.add("color_backlight_compensation", int_t, 0, "Backlight Compensation", 0, 0, 4)
gen.add("color_brightness", int_t, 0, "Brightness", 0, 0, 255)
gen.add("color_contrast", int_t, 0, "Contrast", 50, 16, 64)
gen.add("color_exposure", int_t, 0, "Exposure", 166, 50, 666)
gen.add("color_gain", int_t, 0, "Gain", 64, 0, 256)
gen.add("color_gamma", int_t, 0, "Gamma", 300, 100, 280)
gen.add("color_hue", int_t, 0, "Hue", 0, -2200, 2200)
gen.add("color_saturation", int_t, 0, "Saturation", 64, 0, 255)
gen.add("color_sharpness", int_t, 0, "Sharpness", 50, 0, 7)
# Must be set only if color_enable_auto_white_balance is disabled
gen.add("color_white_balance", int_t, 0, "White Balance", 4600, 2000, 8000)
gen.add("color_enable_auto_exposure", int_t, 0, "Enable Auto Exposure", 1, 0, 1)
gen.add("color_enable_auto_white_balance", int_t, 0, "Enable Auto White Balance", 1, 0, 1)
gen.add("r200_lr_auto_exposure_enabled", int_t, 0, "LR Auto Exposure Enabled", 0, 0, 1)
gen.add("r200_lr_gain", int_t, 0, "LR Gain", 400, 100, 6399)
# Must be set only if r200_lr_auto_exposure_enabled is disabled
gen.add("r200_lr_exposure", int_t, 0, "LR Exposure", 164, 1, 164)
gen.add("r200_emitter_enabled", int_t, 0, "Emitter Enabled", 1, 0, 1)
gen.add("r200_depth_clamp_min", int_t, 0, "Depth Clamp Min", 0, 0, 65535)
gen.add("r200_depth_clamp_max", int_t, 0, "Depth Clamp Max", 65535, 0, 65535)
# Depth Control Grouping
r200_depth_control = gen.add_group("R200 Depth Control")
r200_dc_preset_enum = gen.enum(
[ gen.const("UNUSED", int_t, -1, "Individual Depth Control was changed"),
gen.const("Default", int_t, 0, "Default settings on chip. Similar to Medium. Best for Outdoors."),
gen.const("Off", int_t, 1, "Disable almost all hardware-based outlier removal."),
gen.const("Low", int_t, 2, "Lower number of outliers removed. Minimal false negatives."),
gen.const("Medium", int_t, 3, "Medium number of outliers removed. Balanced approach."),
gen.const("Optimized", int_t, 4, "Medium-High number of outliers removed. Derived optimization function."),
gen.const("High", int_t, 5, "Higher number of outliers removed. Minimal false positives.")],
"Depth Control Preset Choices")
# Name
# Type Level Description Default Min Max Method
r200_depth_control.add("r200_dc_preset",
int_t, 64, "R200 Depth Control Preset", 5, -1, 5, edit_method=r200_dc_preset_enum)
r200_depth_control.add("r200_dc_estimate_median_decrement",
int_t, 32, "Estimate Median Decrement", 5, 0, 255)
r200_depth_control.add("r200_dc_estimate_median_increment",
int_t, 32, "Estimate Median Increment", 5, 0, 255)
r200_depth_control.add("r200_dc_median_threshold",
int_t, 32, "Median Threshold", 235, 0, 1023)
r200_depth_control.add("r200_dc_score_minimum_threshold",
int_t, 32, "Score Minimum Threshold", 27, 0, 1023)
r200_depth_control.add("r200_dc_score_maximum_threshold",
int_t, 32, "Score Maximum Threshold", 420, 0, 1023)
r200_depth_control.add("r200_dc_texture_count_threshold",
int_t, 32, "Texture Count Threshold", 8, 0, 31)
r200_depth_control.add("r200_dc_texture_difference_threshold",
int_t, 32, "Texture Difference Threshold", 80, 0, 1023)
r200_depth_control.add("r200_dc_second_peak_threshold",
int_t, 32, "Second Peak Threshold", 70, 0, 1023)
r200_depth_control.add("r200_dc_neighbor_threshold",
int_t, 32, "Neighbor Threshold", 90, 0, 1023)
r200_depth_control.add("r200_dc_lr_threshold",
int_t, 32, "LR Threshold", 12, 0, 2047)
gen.add("fisheye_exposure", int_t, 0, "Fisheye Exposure", 40, 40, 331)
gen.add("fisheye_gain", int_t, 0, "Fisheye Gain", 0, 0, 2047)
gen.add("fisheye_strobe", int_t, 0, "Fisheye Strobe", 0, 0, 1)
gen.add("fisheye_external_trigger", int_t, 0, "Fisheye External Trigger", 0, 0, 1)
gen.add("fisheye_enable_auto_exposure", int_t, 0, "Fisheye Enable Auto Exposure", 1, 0, 1)
gen.add("fisheye_auto_exposure_mode", int_t, 0, "Fisheye Auto Exposure Mode", 0, 0, 2)
gen.add("fisheye_auto_exposure_antiflicker_rate", int_t, 0, "Fisheye Auto Exposure Antiflicker Rate", 60, 50, 60)
gen.add("fisheye_auto_exposure_pixel_sample_rate", int_t, 0, "Fisheye Auto Exposure Pixel Sample Rate", 1, 1, 3)
gen.add("fisheye_auto_exposure_skip_frames", int_t, 0, "Fisheye Auto Exposure Skip Frames", 2, 0, 3)
gen.add("frames_queue_size", int_t, 0, "Frames Queue Size", 20, 1, 20)
gen.add("hardware_logger_enabled", int_t, 0, "Hardware Logger Enabled", 0, 0, 1)
exit(gen.generate(PACKAGE, "realsense_camera", "zr300_params"))