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Modify option_names

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This commit is contained in:
Kalman 2018-11-20 19:31:54 +08:00
parent 2b1288bcd4
commit 7e5b3ee419
2 changed files with 34 additions and 42 deletions
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64
wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
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@ -44,49 +44,45 @@
<!-- device options, -1 will not set the value -->
<!-- gain range: [0,48] -->
<arg name="gain" default="-1" />
<!-- <arg name="gain" default="24" /> -->
<!-- brightness range: [0,240] -->
<arg name="brightness" default="-1" />
<!-- <arg name="brightness" default="120" /> -->
<!-- contrast range: [0,255] -->
<arg name="contrast" default="-1" />
<!-- <arg name="contrast" default="127" /> -->
<!-- frame_rate range: {10,15,20,25,30,35,40,45,50,55,60} -->
<arg name="frame_rate" default="-1" />
<!-- <arg name="frame_rate" default="25" /> -->
<!-- imu_frequency range: {100,200,250,333,500} -->
<arg name="imu_frequency" default="-1" />
<!-- <arg name="imu_frequency" default="200" /> -->
<!-- exposure_mode, 0: auto-exposure, 1: manual-exposure -->
<arg name="exposure_mode" default="-1" />
<!-- <arg name="exposure_mode" default="0" /> -->
<!-- max_gain range: [0,48] -->
<!-- max_gain range: [0,255] -->
<arg name="max_gain" default="-1" />
<!-- <arg name="max_gain" default="48" /> -->
<!-- <arg name="max_gain" default="8" /> -->
<!-- max_exposure_time range: [0,240] -->
<!-- max_exposure_time range: [0,1000] -->
<arg name="max_exposure_time" default="-1" />
<!-- <arg name="max_exposure_time" default="240" /> -->
<!-- <arg name="max_exposure_time" default="333" /> -->
<!-- desired_brightness range: [0,255] -->
<!-- desired_brightness range: [1,255] -->
<arg name="desired_brightness" default="-1" />
<!-- <arg name="desired_brightness" default="192" /> -->
<!-- <arg name="desired_brightness" default="122" /> -->
<!-- ir_control range: [0,160] -->
<arg name="ir_control" default="80" />
<!-- <arg name="ir_control" default="0" /> -->
<!-- min_exposure_time range: [0,1000] -->
<arg name="min_exposure_time" default="-1" />
<!-- <arg name="min_exposure_time" default="0" /> -->
<!-- hdr_mode, 0: 10-bit, 1: 12-bit -->
<arg name="hdr_mode" default="-1" />
<!-- <arg name="hdr_mode" default="0" /> -->
<!-- accel_range range: [6,48] -->
<arg name="accel_range" default="-1" />
<!-- <arg name="accel_range" default="6" /> -->
<!-- gyro_range range: [250,4000] -->
<arg name="gyro_range" default="-1" />
<!-- <arg name="gyro_range" default="1000" /> -->
<!-- accel_low_filter range: [0,2] -->
<arg name="accel_low_filter" default="-1" />
<!-- <arg name="accel_low_filter" default="2" /> -->
<!-- gyro_low_filter range: [23,64] -->
<arg name="gyro_low_filter" default="-1" />
<!-- <arg name="gyro_low_filter" default="64" /> -->
<!-- Push down all topics/nodelets into "mynteye" namespace -->
<group ns="$(arg mynteye)">
@ -136,18 +132,16 @@
<!-- device options -->
<param name="gain" value="$(arg gain)" />
<param name="brightness" value="$(arg brightness)" />
<param name="contrast" value="$(arg contrast)" />
<param name="frame_rate" value="$(arg frame_rate)" />
<param name="imu_frequency" value="$(arg imu_frequency)" />
<param name="exposure_mode" value="$(arg exposure_mode)" />
<param name="max_gain" value="$(arg max_gain)" />
<param name="max_exposure_time" value="$(arg max_exposure_time)" />
<param name="desired_brightness" value="$(arg desired_brightness)" />
<param name="ir_control" value="$(arg ir_control)" />
<param name="hdr_mode" value="$(arg hdr_mode)" />
<param name="min_exposure_time" value="$(arg max_exposure_time)" />
<param name="accel_range" value="$(arg accel_range)" />
<param name="gyro_range" value="$(arg gyro_range)" />
<param name="accel_low_filter" value="$(arg accel_low_filter)" />
<param name="gyro_low_filter" value="$(arg gyro_low_filter)" />
</node>
</group> <!-- mynteye -->

12
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -147,18 +147,16 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
// device options
std::map<Option, std::string> option_names = {
{Option::GAIN, "gain"},
{Option::BRIGHTNESS, "brightness"},
{Option::CONTRAST, "contrast"},
{Option::FRAME_RATE, "frame_rate"},
{Option::IMU_FREQUENCY, "imu_frequency"},
{Option::EXPOSURE_MODE, "exposure_mode"},
{Option::MAX_GAIN, "max_gain"},
{Option::MAX_EXPOSURE_TIME, "max_exposure_time"},
{Option::DESIRED_BRIGHTNESS, "desired_brightness"},
{Option::IR_CONTROL, "ir_control"},
{Option::HDR_MODE, "hdr_mode"},
};
{Option::MIN_EXPOSURE_TIME, "min_exposure_time"},
{Option::EXPOSURE_MODE, "accel_range"},
{Option::GYROSCOPE_RANGE, "gyro_range"},
{Option::ACCELEROMETER_LOW_PASS_FILTER, "accel_low_filter"},
{Option::GYROSCOPE_LOW_PASS_FILTER, "gyro_low_filter"}};
for (auto &&it = option_names.begin(); it != option_names.end(); ++it) {
if (!api_->Supports(it->first))
continue;