ProcessConfig = ANTLER
{
MSBetweenLaunches = 200
//crucial processes
Run = MOOSDB @ NewConsole = false
Run = StereoFlyCap @ NewConsole=false
Run = Claraquino @ NewConsole=false
}
ProcessConfig = MOOSDB
{
// Enable webserver in MOOSDB
WEBSERVERPORT = 9080
}
//------------------------------------------
// Claraquino configuration block
ProcessConfig = Claraquino
{
CommsTick = 10
AppTick = 10
SERIAL_PORT = /dev/ttyUSB3
SERIAL_PORT_BAUDRATE = 115200
}
//------------------------------------------
// StereoFlyCap configuration block
ProcessConfig = StereoFlyCap
{
CommsTick = 100
AppTick = 100
MaxAppTick = 1000
// Output directory for image (temporary) files in externally-stored mrpt::utils::CImage
IMAGES_DIR = StereoFlyCap_Images
// (default=false) If set to "true", image compression while serializing will be disabled (useful when saving to shared memory).
// IMAGES_SKIP_COMPRESS = false
// (Default=100) Max number of images in the temporary directory / shared memory
IMGS_QUEUE_MAX_LENGTH = 100
IMAGES_RATE = 10 // Frequency of images synch signal (Hz)
// A config file with the stereo calib data, in the format expected by mrpt::utils::TStereoCamera
//CAM_CALIB_FILE = stereo_calib.ini
# =======================================================
# SENSOR: CameraFlyCap
# =======================================================
sensorLabel = STEREO1
grabber_type = flycap_stereo
preview_decimation = 1
preview_reduction = 4
#grab_decimation = 1
# For externaly stored images, the format of image files (default=jpg)
#external_images_format = jpg
# For externaly stored images: whether to spawn an independent process to save the image files.
external_images_own_thread = true
# If external_images_own_thread=1, this changes the number of threads to launch
# to save image files. The default is determined from mrpt::system::getNumberOfProcessors()
# and should be OK unless you want to save processor time for other things.
#external_images_own_thread_count = 2 // >=1
# (Only when external_images_format=jpg): Optional parameter to set the JPEG compression quality:
#external_images_jpeg_quality = 95 // [1-100]. Default: 95
pose_x = 0 // position on the robot (meters)
pose_y = 0
pose_z = 0
pose_yaw = 0 // Angles in degrees
pose_pitch = 0
pose_roll = 0
# -------- FlyCapture specific parameters ------------------------
# See docs for : mrpt::hwdrivers::TCaptureOptions_FlyCapture2
# ----------------------------------------------------------------
# ======= LEFT CAMERA ===========
# Camera selection:
#fcs_LEFT_camera_index = 0 // (Default=0) If open_by_guid==false, will open the i'th camera based on this 0-based index.
fcs_LEFT_open_by_guid = true // (Default=false) Set to true to force opening a camera by its GUID, in \a camera_guid
fcs_LEFT_camera_guid = 63A8D3CE-B49580D6-004AED1C-DDE4EF14 // GUID of the camera to open, only when open_by_guid==true. Hexadecimal blocks separated by dashes ("-")
# Camera settings:
fcs_LEFT_videomode = VIDEOMODE_1280x960RGB // (Default="", which means default) A string with a video mode, from the list available in [FlyCapture2::VideoMode](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/), eg. "VIDEOMODE_640x480Y8", etc.
fcs_LEFT_framerate = FRAMERATE_7_5 // (Default="", which means default) A string with a framerate, from the list available in [FlyCapture2::FrameRate](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/), eg. "FRAMERATE_30", etc.
fcs_LEFT_grabmode = DROP_FRAMES // BUFFER_FRAMES // (Default="BUFFER_FRAMES") A string with a grab mode, from the list available in [FlyCapture2::GrabMode](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/)
fcs_LEFT_numBuffers = 1 // (Default=30) Number of images that can be stored in the buffer, if enabled with grabMode.
fcs_LEFT_grabTimeout = 5000 // (Default=5000) Time in milliseconds that RetrieveBuffer() and WaitForBufferEvent() will wait for an image before timing out and returning.
fcs_LEFT_trigger_enabled = true // (default=false) Enable non-free-running mode, only capturing when a given input trigger signal is detected. Refer to PGR docs.
fcs_LEFT_trigger_polarity = 0 // (default=0) Refer to PGR docs.
fcs_LEFT_trigger_source = 0 // (default=0) Refer to PGR docs.
fcs_LEFT_trigger_mode = 0 // (default=0) Refer to PGR docs.
fcs_LEFT_strobe_enabled = false // (default=false) Enable the generation of a strobe signal in GPIO. Refer to PGR docs.
#fcs_LEFT_strobe_source = 1 // (default=0) Refer to PGR docs.
#fcs_LEFT_strobe_polarity = 0 // (default=0) Refer to PGR docs.
#fcs_LEFT_strobe_delay = 0.0 // (default=0.0) Delay in ms. Refer to PGR docs.
#fcs_LEFT_strobe_duration = 1.0 // (default=1.0) Pulse durationin ms. Refer to PGR docs.
fcs_LEFT_shutter_auto = true // (default=true)
fcs_LEFT_shutter_time_ms = 15.0 // (default=4.0) Shutter time, if shutter_auto=false
# ======= RIGHT CAMERA ===========
# Camera selection:
#fcs_RIGHT_camera_index = 0 // (Default=0) If open_by_guid==false, will open the i'th camera based on this 0-based index.
fcs_RIGHT_open_by_guid = true // (Default=false) Set to true to force opening a camera by its GUID, in \a camera_guid
fcs_RIGHT_camera_guid = B9862FD2-7AE0E03A-A6BC0321-16654DC9 // GUID of the camera to open, only when open_by_guid==true. Hexadecimal blocks separated by dashes ("-")
# Camera settings:
fcs_RIGHT_videomode = VIDEOMODE_1280x960RGB // (Default="", which means default) A string with a video mode, from the list available in [FlyCapture2::VideoMode](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/), eg. "VIDEOMODE_640x480Y8", etc.
fcs_RIGHT_framerate = FRAMERATE_7_5 // (Default="", which means default) A string with a framerate, from the list available in [FlyCapture2::FrameRate](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/), eg. "FRAMERATE_30", etc.
fcs_RIGHT_grabmode = DROP_FRAMES // BUFFER_FRAMES // (Default="BUFFER_FRAMES") A string with a grab mode, from the list available in [FlyCapture2::GrabMode](http://www.ptgrey.com/support/downloads/documents/flycapture/Doxygen/html/)
fcs_RIGHT_numBuffers = 1 // (Default=30) Number of images that can be stored in the buffer, if enabled with grabMode.
fcs_RIGHT_grabTimeout = 5000 // (Default=5000) Time in milliseconds that RetrieveBuffer() and WaitForBufferEvent() will wait for an image before timing out and returning.
fcs_RIGHT_trigger_enabled = true // (default=false) Enable non-free-running mode, only capturing when a given input trigger signal is detected. Refer to PGR docs.
#fcs_RIGHT_trigger_polarity = 0 // (default=0) Refer to PGR docs.
fcs_RIGHT_trigger_source = 0 // (default=0) Refer to PGR docs.
fcs_RIGHT_trigger_mode = 0 // (default=0) Refer to PGR docs.
fcs_RIGHT_strobe_enabled = false // (default=false) Enable the generation of a strobe signal in GPIO. Refer to PGR docs.
#fcs_RIGHT_strobe_source = 1 // (default=0) Refer to PGR docs.
#fcs_RIGHT_strobe_polarity = 0 // (default=0) Refer to PGR docs.
#fcs_RIGHT_strobe_delay = 0.0 // (default=0.0) Delay in ms. Refer to PGR docs.
#fcs_RIGHT_strobe_duration = 1.0 // (default=1.0) Pulse durationin ms. Refer to PGR docs.
fcs_RIGHT_shutter_auto = true // (default=true)
fcs_RIGHT_shutter_time_ms = 15.0 // (default=4.0) Shutter time, if shutter_auto=false
}