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Astra.cfg
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#!/usr/bin/env python
PACKAGE='astra_camera'
from dynamic_reconfigure.parameter_generator_catkin import *
gen = ParameterGenerator()
# TODO Only offer modes supported by known hardware
output_mode_enum = gen.enum([ gen.const( "SXGA_30Hz", int_t, 1, "1280x1024@30Hz"),
gen.const( "SXGA_15Hz", int_t, 2, "1280x1024@15Hz"),
gen.const( "XGA_30Hz", int_t, 3, "1280x720@30Hz"),
gen.const( "XGA_15Hz", int_t, 4, "1280x720@15Hz"),
gen.const( "VGA_30Hz", int_t, 5, "640x480@30Hz"),
gen.const( "VGA_25Hz", int_t, 6, "640x480@25Hz"),
gen.const( "QVGA_25Hz", int_t, 7, "320x240@25Hz"),
gen.const( "QVGA_30Hz", int_t, 8, "320x240@30Hz"),
gen.const( "QVGA_60Hz", int_t, 9, "320x240@60Hz"),
gen.const( "QQVGA_25Hz", int_t, 10, "160x120@25Hz"),
gen.const( "QQVGA_30Hz", int_t, 11, "160x120@30Hz"),
gen.const( "QQVGA_60Hz", int_t, 12, "160x120@60Hz"),
gen.const("640400_30Hz", int_t, 13, "640x400@30Hz"),
gen.const("320200_30Hz", int_t, 14, "320x200@30Hz"),
gen.const("1280800_7Hz", int_t, 15, "1280x800@7Hz"),
gen.const("1280800_30Hz", int_t, 16, "1280x800@30Hz"),
gen.const("640400_60Hz", int_t, 17, "640x400@60Hz")],
"output mode")
video_stream_enum = gen.enum([ gen.const( "RGB", bool_t, True, "RGB video stream preferred"),
gen.const( "IR", bool_t, False, "IR video stream preferred")],
"preferred video stream mode")
gen.add("rgb_preferred", bool_t, 0, "Preferred camera stream", True, edit_method = video_stream_enum)
gen.add("ir_mode", int_t, 0, "Video mode for IR camera", 5, 1, 17, edit_method = output_mode_enum)
gen.add("color_mode", int_t, 0, "Video mode for color camera", 5, 1, 17, edit_method = output_mode_enum)
gen.add("depth_mode", int_t, 0, "Video mode for depth camera", 5, 1, 17, edit_method = output_mode_enum)
gen.add("depth_registration", bool_t, 0, "Depth data registration", True)
gen.add("color_depth_synchronization", bool_t, 0, "Synchronization of color and depth camera", False)
gen.add("auto_exposure", bool_t, 0, "Auto-Exposure", True)
gen.add("auto_white_balance", bool_t, 0, "Auto-White-Balance", True)
gen.add("data_skip", int_t, 0, "Skip N images for every image published (rgb/depth/depth_registered/ir)", 0, 0, 10)
gen.add("ir_time_offset", double_t, 0, "ir image time offset in seconds", -0.033, -1.0, 1.0 );
gen.add("color_time_offset", double_t, 0, "color image time offset in seconds", -0.033, -1.0, 1.0 );
gen.add("depth_time_offset", double_t, 0, "depth image time offset in seconds", -0.033, -1.0, 1.0 );
gen.add("depth_ir_offset_x", double_t, 0, "X offset between IR and depth images", 5.0, -20.0, 20.0)
gen.add("depth_ir_offset_y", double_t, 0, "Y offset between IR and depth images", 4.0, -20.0, 20.0)
gen.add("z_offset_mm", int_t, 0, "Z offset in mm", 0, -200, 200)
gen.add("z_scaling", double_t, 0, "Scaling factor for depth values", 1.0, 0.5, 1.5)
gen.add("use_device_time", bool_t, 0, "Use internal timer of OpenNI device", True)
exit(gen.generate(PACKAGE, "Astra", "Astra"))