From f0cd0ab9404af62f6ac47e565340d831630048eb Mon Sep 17 00:00:00 2001 From: Bernd Pfrommer Date: Tue, 12 Mar 2024 09:41:39 -0400 Subject: [PATCH] added blackfly GigE configuration file --- spinnaker_camera_driver/config/blackfly.yaml | 150 +++++++++++++++++++ 1 file changed, 150 insertions(+) create mode 100644 spinnaker_camera_driver/config/blackfly.yaml diff --git a/spinnaker_camera_driver/config/blackfly.yaml b/spinnaker_camera_driver/config/blackfly.yaml new file mode 100644 index 0000000..e3b8fa5 --- /dev/null +++ b/spinnaker_camera_driver/config/blackfly.yaml @@ -0,0 +1,150 @@ +# +# config file for blackfly cameras (GigE) +# +# 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", "BayerRG16", "YUV444Packed" + # default is "BayerRG8" + node: ImageFormatControl/PixelFormat + - 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 + - name: video_mode + type: enum + # allowed video modes: Mode0, Mode4, Mode5, Mode7 + node: VideoMode + - name: binning_x + type: int + # can only set binning in some video modes, e.g. Mode4 + node: ImageFormatControl/BinningHorizontal + - name: binning_y + type: int + # can only set binning in some video modes, e.g. Mode4 + node: ImageFormatControl/BinningVertical + + # + # -------- analog control + # + - name: gain_auto + type: enum + # valid values are "Continuous", "Off" + node: AnalogControl/GainAuto + - name: gain + type: float + node: AnalogControl/Gain + # + # -------- device link throughput limiting + # + - name: device_link_throughput_limit + type: int + node: DeviceControl/DeviceLinkThroughputLimit + # + # -------- 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/GevSCPSPacketSize + # + # -------- digital IO control + # + - name: line0_selector + type: enum # valid value: Line0 + node: DigitalIOControl/LineSelector + - name: line1_selector # white wire: opto-isolated output + type: enum # valid value: Line1 + node: DigitalIOControl/LineSelector + - name: line1_source # valid values: "ExposureActive", "ExternalTriggerActive", "UserOutput1" + type: enum + node: DigitalIOControl/LineMode + # + # -------- acquisition control + # + - name: exposure_auto + type: enum + # valid values are "Off", "Continuous" + node: AcquisitionControl/ExposureAuto + - name: exposure_time + type: float + node: AcquisitionControl/ExposureTime + - name: trigger_mode + type: enum + # valid values are "On" and "Off" + node: AcquisitionControl/TriggerMode + - name: trigger_source + type: enum + # valid values are "Line0" + node: AcquisitionControl/TriggerSource + - name: trigger_selector + type: enum + # valid values are e.g. "FrameStart", "AcquisitionStart", "FrameBurstStart" + node: AcquisitionControl/TriggerSelector + - name: trigger_delay + # value >= 9 + type: float + node: AcquisitionControl/TriggerDelay + - name: trigger_overlap + type: enum + # valid values: "Off" and "ReadOut" + node: AcquisitionControl/TriggerOverlap + - name: trigger_activation + type: enum + # valid values: "LevelLow", "LevelHigh", "FallingEdge", "RisingEdge", "AnyEdge", + node: AcquisitionControl/TriggerActivation + - name: frame_rate_enable # must come after trigger_mode + type: bool + node: AcquisitionControl/AcquisitionFrameRateEnable + - name: frame_rate + type: float + node: AcquisitionControl/AcquisitionFrameRate + # + # --------- chunk control + # + - name: chunk_mode_active + type: bool + node: ChunkDataControl/ChunkModeActive + - name: chunk_selector_frame_counter + type: enum + # valid values: "FrameCounter" + 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