From 8e587986f9611de402b02296e4aa47c529f04e1d Mon Sep 17 00:00:00 2001 From: dominikn Date: Sat, 27 Jan 2024 20:34:00 +0100 Subject: [PATCH] tunning luxonis params --- demo/oak-1-ffmpeg/camera.params.yaml | 40 +++++++++++++++++++--------- demo/oak-1-ffmpeg/compose.yaml | 22 ++++++++++++++- demo/oak-1-ffmpeg/config.yaml | 17 ++++++++++++ 3 files changed, 66 insertions(+), 13 deletions(-) create mode 100644 demo/oak-1-ffmpeg/config.yaml diff --git a/demo/oak-1-ffmpeg/camera.params.yaml b/demo/oak-1-ffmpeg/camera.params.yaml index 1fd23ee..00730e1 100644 --- a/demo/oak-1-ffmpeg/camera.params.yaml +++ b/demo/oak-1-ffmpeg/camera.params.yaml @@ -12,34 +12,48 @@ i_laser_dot_brightness: 800 i_mx_id: '' i_nn_type: none - i_pipeline_type: RGB + i_pipeline_type: RGB # https://docs-beta.luxonis.com/develop/ros/depthai-ros-driver#Depthai%20ROS%20Driver-Available%20sensors%20and%20their%20resolutions%3A i_usb_port_id: '' i_usb_speed: SUPER_PLUS i_pipeline_dump: false i_calibration_dump: false i_external_calibration_path: '' rgb: + i_add_exposure_offset: false i_board_socket_id: 0 - i_simulate_from_topic: false - i_get_base_device_timestamp: false - i_disable_node: false i_calibration_file: '' + i_disable_node: false + i_enable_feature_tracker: false + i_enable_lazy_publisher: true + i_enable_nn: false i_enable_preview: false + i_exposure_offset: 0 i_fps: 30.0 - i_width: 640 + i_fsync_continuous: false + i_fsync_trigger: false + i_get_base_device_timestamp: false + i_width: 640 i_height: 360 i_interleaved: false + i_isp_den: 3 + i_isp_num: 2 i_keep_preview_aspect_ratio: true - i_low_bandwidth: true + i_low_bandwidth: false i_low_bandwidth_quality: 50 i_max_q_size: 30 + i_output_isp: true + i_preview_height: 300 i_preview_size: 300 + i_preview_width: 300 i_publish_topic: true - i_resolution: '360' - i_set_isp_scale: false - i_isp_num: 2 - i_isp_den: 3 - i_output_isp: false + i_resolution: 1080P # available resolutions: https://docs-beta.luxonis.com/develop/ros/depthai-ros-driver#Available%20sensors%20and%20their%20resolutions%3A + i_reverse_stereo_socket_order: false + i_sensor_img_orientation: AUTO + i_set_isp3a_fps: false + i_set_isp_scale: true + i_simulate_from_topic: false + i_simulated_topic_name: '' + i_update_ros_base_time_on_ros_msg: false r_exposure: 20000 r_focus: 1 r_iso: 800 @@ -51,4 +65,6 @@ encoding: libx264 preset: ultrafast tune: zerolatency - use_sim_time: false \ No newline at end of file + use_sim_time: false + +# 1080P is in pixels 1920x1080 \ No newline at end of file diff --git a/demo/oak-1-ffmpeg/compose.yaml b/demo/oak-1-ffmpeg/compose.yaml index b6cd526..0466d7e 100644 --- a/demo/oak-1-ffmpeg/compose.yaml +++ b/demo/oak-1-ffmpeg/compose.yaml @@ -38,4 +38,24 @@ services: - /tmp/.X11-unix:/tmp/.X11-unix:rw - ./default.rviz:/default.rviz - ./rviz.launch.py:/rviz.launch.py - command: ros2 launch /rviz.launch.py \ No newline at end of file + command: ros2 launch /rviz.launch.py + + # ros2router: + # image: husarnet/ros2router:1.6.3 + # <<: *common-config + # volumes: + # - ./config.yaml:/config.yaml + # environment: + # - AUTO_CONFIG=FALSE + # - USER + # # ========================== + # # envs for Husarnet setup + # # ========================== + # - ROS_DISCOVERY_SERVER=${ROBOT_NAMESPACE}:11811 + # - DISCOVERY_SERVER_ID=10 # need to be different as ros2router on ROSbot + # # ========================== + # # envs for LAN setup + # # ========================== + # # - ROS_LOCALHOST_ONLY=0 + # # - HUSARNET_PARTICIPANT_ENABLED=false + # command: ddsrouter -c /config.yaml \ No newline at end of file diff --git a/demo/oak-1-ffmpeg/config.yaml b/demo/oak-1-ffmpeg/config.yaml new file mode 100644 index 0000000..58faba4 --- /dev/null +++ b/demo/oak-1-ffmpeg/config.yaml @@ -0,0 +1,17 @@ +version: v3.0 +participants: + - name: LocalUdpParticipant + kind: local + domain: 0 + transport: udp + ignore-participant-flags: no_filter + whitelist-interfaces: + - 127.0.0.1 + - name: LocalShmParticipant + kind: local + domain: 0 + transport: shm +allowlist: + - name: "rt/*" +blocklist: [] +builtin-topics: []