feat(ros): added mutiple yaml file for multiple device
This commit is contained in:
Osenberg
parent
95b234a25a
commit
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# standard/gain range: [0,48]
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sstandard/gain: -1
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# standard/gain: 24
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# standard/brightness range: [0,240]
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standard/brightness: -1
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# standard/brightness: 120
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# contrast range: [0,255]
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standard/contrast: -1
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# standard/contrast: 127
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# standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
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standard/frame_rate: -1
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# standard/frame_rate: 25
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# standard/imu_frequency range: {100,200,250,333,500}
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standard/imu_frequency: -1
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# standard/imu_frequency: 200
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# standard/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard/exposure_mode: -1
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# standard/exposure_mode: 0
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# standard/max_gain range: [0,48]
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standard/max_gain: -1
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# standard/max_gain: 48
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# standard/max_exposure_time range: [0,240]
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standard/max_exposure_time: -1
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# standard/max_exposure_time: 240
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# standard/desired_brightness range: [0,255]
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standard/desired_brightness: -1
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# standard/desired_brightness: 192
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# standard/ir_control range: [0,160]
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standard/ir_control: 80
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# standard/ir_control: 0
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# standard/hdr_mode, 0: 10-bit, 1: 12-bit
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standard/hdr_mode: -1
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# standard/hdr_mode: 0
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# standard/accel_range range: {4,8,16,32}
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standard/accel_range: -1
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# standard/accel_range: 8
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# standard/gyro_range range: {500,1000,2000,4000}
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standard/gyro_range: -1
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# standard/gyro_range: 1000
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# MYNTEYE-S1030, Reslution: 752x480, Format: YUYV
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# index_s_0: 0
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# MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
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# index_s_1: 1
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standard/request_index: 0
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# Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10
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# index_s2_0: 0
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20
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# index_s2_1: 1
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30
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# index_s2_2: 2
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60
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# index_s2_3: 3
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10
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# index_s2_4: 4
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20
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# index_s2_5: 5
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30
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# index_s2_6: 6
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standard2/request_index: 2
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# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
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# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
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standard2/imu_process_mode: 2
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# device options of standard2, -1 will not set the value
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# standard2/brightness range: [0,240]
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standard2/brightness: -1
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# standard2/brightness: 120
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# standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard2/exposure_mode: -1
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# standard2/exposure_mode: 0
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# standard2/max_gain range: [0,255]
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standard2/max_gain: -1
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# standard2/max_gain: 8
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# standard2/max_exposure_time range: [0,1000]
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standard2/max_exposure_time: -1
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# standard2/max_exposure_time: 333
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# standard2/desired_brightness range: [1,255]
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standard2/desired_brightness: -1
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# standard2/desired_brightness: 122
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# standard2/min_exposure_time range: [0,1000]
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standard2/min_exposure_time: -1
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# standard2/min_exposure_time: 0
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# standard2/ir_control range: [0,160]
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standard2/ir_control: 80
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# standard2/ir_control: 0
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# standard2/accel_range range: [6,48]
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standard2/accel_range: -1
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# standard2/accel_range: 6
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# standard2/gyro_range range: [250,4000]
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standard2/gyro_range: -1
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# standard2/gyro_range: 1000
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# standard2/accel_low_filter range: [0,2]
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standard2/accel_low_filter: -1
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# standard2/accel_low_filter: 2
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# standard2/gyro_low_filter range: [23,64]
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standard2/gyro_low_filter: -1
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# standard2/gyro_low_filter: 64
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# device options of standard210a, -1 will not set the value
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# standard210a/brightness range: [0,240]
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standard210a/brightness: -1
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# standard210a/brightness: 120
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# standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard210a/exposure_mode: -1
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# standard210a/exposure_mode: 0
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# standard210a/max_gain range: [0,255]
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standard210a/max_gain: -1
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# standard210a/max_gain: 8
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# standard210a/max_exposure_time range: [0,1000]
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standard210a/max_exposure_time: -1
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# standard210a/max_exposure_time: 333
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# standard210a/desired_brightness range: [1,255]
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standard210a/desired_brightness: -1
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# standard210a/desired_brightness: 122
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# standard210a/min_exposure_time range: [0,1000]
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standard210a/min_exposure_time: -1
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# standard210a/min_exposure_time: 0
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# standard210a/accel_range range: [6,48]
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standard210a/accel_range: -1
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# standard210a/accel_range: 6
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# standard210a/gyro_range range: [250,4000]
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standard210a/gyro_range: -1
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# standard210a/gyro_range: 1000
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# standard210a/accel_low_filter range: [0,2]
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standard210a/accel_low_filter: -1
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# standard210a/accel_low_filter: 2
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# standard210a/gyro_low_filter range: [23,64]
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standard210a/gyro_low_filter: -1
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# standard210a/gyro_low_filter: 64
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# standard210a/iic_address_setting range: [0,127]
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standard210a/iic_address_setting: -1
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# standard210a/iic_address_setting: 0x01
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# standard/gain range: [0,48]
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sstandard/gain: -1
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# standard/gain: 24
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# standard/brightness range: [0,240]
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standard/brightness: -1
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# standard/brightness: 120
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# contrast range: [0,255]
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standard/contrast: -1
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# standard/contrast: 127
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# standard/frame_rate range: {10,15,20,25,30,35,40,45,50,55,60}
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standard/frame_rate: -1
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# standard/frame_rate: 25
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# standard/imu_frequency range: {100,200,250,333,500}
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standard/imu_frequency: -1
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# standard/imu_frequency: 200
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# standard/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard/exposure_mode: -1
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# standard/exposure_mode: 0
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# standard/max_gain range: [0,48]
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standard/max_gain: -1
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# standard/max_gain: 48
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# standard/max_exposure_time range: [0,240]
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standard/max_exposure_time: -1
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# standard/max_exposure_time: 240
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# standard/desired_brightness range: [0,255]
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standard/desired_brightness: -1
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# standard/desired_brightness: 192
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# standard/ir_control range: [0,160]
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standard/ir_control: 80
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# standard/ir_control: 0
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# standard/hdr_mode, 0: 10-bit, 1: 12-bit
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standard/hdr_mode: -1
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# standard/hdr_mode: 0
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# standard/accel_range range: {4,8,16,32}
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standard/accel_range: -1
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# standard/accel_range: 8
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# standard/gyro_range range: {500,1000,2000,4000}
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standard/gyro_range: -1
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# standard/gyro_range: 1000
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# MYNTEYE-S1030, Reslution: 752x480, Format: YUYV
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# index_s_0: 0
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# MYNTEYE-S1030, Reslution: 376x240, Format: YUYV
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# index_s_1: 1
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standard/request_index: 0
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# Attention:The format of MYNTEYE-S2100/S2000 is YUYV.S210A's format is BGR888
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 10
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# index_s2_0: 0
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 20
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# index_s2_1: 1
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 30
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# index_s2_2: 2
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# MYNTEYE-S2100/S2000/S210A, Reslution: 1280x400, Format: YUYV/BGR888, Fps: 60
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# index_s2_3: 3
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 10
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# index_s2_4: 4
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 20
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# index_s2_5: 5
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# MYNTEYE-S2100/S2000/S210A, Reslution: 2560x800, Format: YUYV/BGR888, Fps: 30
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# index_s2_6: 6
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standard2/request_index: 2
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# MYNTEYE-S2100/S2000/S210A/imu_process_mode range: [0,3]
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# 0 - none process, 1 - temperature process, 2 - scale and assembly process, 3 - both
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standard2/imu_process_mode: 2
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# device options of standard2, -1 will not set the value
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# standard2/brightness range: [0,240]
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standard2/brightness: -1
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# standard2/brightness: 120
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# standard2/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard2/exposure_mode: -1
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# standard2/exposure_mode: 0
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# standard2/max_gain range: [0,255]
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standard2/max_gain: -1
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# standard2/max_gain: 8
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# standard2/max_exposure_time range: [0,1000]
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standard2/max_exposure_time: -1
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# standard2/max_exposure_time: 333
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# standard2/desired_brightness range: [1,255]
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standard2/desired_brightness: -1
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# standard2/desired_brightness: 122
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# standard2/min_exposure_time range: [0,1000]
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standard2/min_exposure_time: -1
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# standard2/min_exposure_time: 0
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# standard2/ir_control range: [0,160]
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standard2/ir_control: 80
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# standard2/ir_control: 0
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# standard2/accel_range range: [6,48]
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standard2/accel_range: -1
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# standard2/accel_range: 6
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# standard2/gyro_range range: [250,4000]
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standard2/gyro_range: -1
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# standard2/gyro_range: 1000
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# standard2/accel_low_filter range: [0,2]
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standard2/accel_low_filter: -1
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# standard2/accel_low_filter: 2
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# standard2/gyro_low_filter range: [23,64]
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standard2/gyro_low_filter: -1
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# standard2/gyro_low_filter: 64
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# device options of standard210a, -1 will not set the value
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# standard210a/brightness range: [0,240]
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standard210a/brightness: -1
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# standard210a/brightness: 120
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# standard210a/exposure_mode, 0: auto-exposure, 1: manual-exposure
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standard210a/exposure_mode: -1
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# standard210a/exposure_mode: 0
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# standard210a/max_gain range: [0,255]
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standard210a/max_gain: -1
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# standard210a/max_gain: 8
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# standard210a/max_exposure_time range: [0,1000]
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standard210a/max_exposure_time: -1
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# standard210a/max_exposure_time: 333
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# standard210a/desired_brightness range: [1,255]
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standard210a/desired_brightness: -1
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# standard210a/desired_brightness: 122
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# standard210a/min_exposure_time range: [0,1000]
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standard210a/min_exposure_time: -1
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# standard210a/min_exposure_time: 0
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# standard210a/accel_range range: [6,48]
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standard210a/accel_range: -1
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# standard210a/accel_range: 6
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# standard210a/gyro_range range: [250,4000]
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standard210a/gyro_range: -1
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# standard210a/gyro_range: 1000
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# standard210a/accel_low_filter range: [0,2]
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standard210a/accel_low_filter: -1
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# standard210a/accel_low_filter: 2
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# standard210a/gyro_low_filter range: [23,64]
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standard210a/gyro_low_filter: -1
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# standard210a/gyro_low_filter: 64
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# standard210a/iic_address_setting range: [0,127]
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standard210a/iic_address_setting: -1
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# standard210a/iic_address_setting: 0x01
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# disparity computing method type
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# sgbm: 0
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# bm: 1
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disparity_computing_method: 1
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enable_left_rect: false
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enable_right_rect: false
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enable_disparity: false
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enable_disparity_norm: false
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enable_points: false
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enable_depth: false
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# disparity computing method type
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# sgbm: 0
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# bm: 1
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disparity_computing_method: 1
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enable_left_rect: false
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enable_right_rect: false
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enable_disparity: false
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enable_disparity_norm: false
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enable_points: false
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enable_depth: false
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<!-- if is_mutiple is true, must set serial_number -->
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<arg name="serial_number" default="07C42B1B0009071F" />
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<!-- depth_type 0: MONO16, 1: TYPE_16UC1 -->
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<arg name="depth_type" default="0" />
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<!-- node params -->
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<arg name="left_topic" default="left/image_raw" />
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<param name="is_multiple" value="$(arg is_multiple)" />
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<param name="serial_number" value="$(arg serial_number)" />
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<param name="depth_type" value="$(arg depth_type)" />
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<param name="left_topic" value="$(arg left_topic)" />
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<param name="right_topic" value="$(arg right_topic)" />
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<param name="left_rect_topic" value="$(arg left_rect_topic)" />
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<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_1/standard.yaml" command="load" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_1/standard2.yaml" command="load" />
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<rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/process_1/process_config.yaml" command="load" />
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<param name="gravity" value="$(arg gravity)" />
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</node>
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<!-- if is_mutiple is true, must set serial_number -->
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<arg name="serial_number" default="07C4061B0009071F" />
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<!-- depth_type 0: MONO16, 1: TYPE_16UC1 -->
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<arg name="depth_type" default="0" />
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<!-- node params -->
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<arg name="left_topic" default="left/image_raw" />
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<param name="is_multiple" value="$(arg is_multiple)" />
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<param name="serial_number" value="$(arg serial_number)" />
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<param name="depth_type" value="$(arg depth_type)" />
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<param name="left_topic" value="$(arg left_topic)" />
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<param name="right_topic" value="$(arg right_topic)" />
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<param name="left_rect_topic" value="$(arg left_rect_topic)" />
|
||||
|
|
@ -80,9 +85,9 @@
|
|||
|
||||
<param name="temperature_frame_id" value="$(arg temperature_frame_id)" />
|
||||
|
||||
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard.yaml" command="load" />
|
||||
<rosparam file="$(find mynt_eye_ros_wrapper)/config/device/standard2.yaml" command="load" />
|
||||
<rosparam file="$(find mynt_eye_ros_wrapper)/config/process/process_config.yaml" command="load" />
|
||||
<rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_2/standard.yaml" command="load" />
|
||||
<rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/device_2/standard2.yaml" command="load" />
|
||||
<rosparam file="$(find mynt_eye_ros_wrapper)/config/sub/process_2/process_config.yaml" command="load" />
|
||||
|
||||
<param name="gravity" value="$(arg gravity)" />
|
||||
</node>
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user