xiCam_config.yaml

ximea_cam_node:
  ros__parameters:
    ####################
    # General Configuration Parameters Go Here!
    ####################

    # directory to save images (make sure that directory exists and that it is an absolute path).
    image_directory: "/home/dev/"  # must be absolute path, not relative path (i.e. '~')

    # save images to the disk
    save_disk: false

    # save images on trigger (calibration only)
    calib_mode: false

    #########################
    # Diagnostics Parameters
    #########################

    enable_diagnostics: true
    data_age_max: 0.1
    pub_frequency: 10.0
    pub_frequency_tolerance: 1.0

    #########################################
    # Camera Configuration Parameters Go Here!
    ##########################################

    # image_transport compressed image parameters
    image_transport_compressed_format: "png"
    image_transport_compressed_jpeg_quality: 100
    image_transport_compressed_png_level: 5

    # colour format
    format: "XI_MONO8"              # Recommended to set to RAW for ARM processors and do offline processing later
                                    #  some options: mono8, rgb24, raw8

    # triggering (0 - none, 1 - software trigger (NOT IMPLMENTED YET),
    # 2 - hardware trigger)
    cam_trigger_mode: 0
    hw_trigger_edge: 0              # if hw trigger, 0/1 = rising/falling edge trigger

    # for camera frame rate
    frame_rate_control: true        # enable or disable frame razte control
                                    # (works if no triggering is enabled)
    frame_rate_set: 120             # for trigger mode, fps limiter (0 for none)
    img_capture_timeout: 1000       # timeout in milliseconds for xiGetImage()

    # exposure settings
    auto_exposure:  true            # auto exposure on or off
    exposure_time: 3000             # manual exposure time in microseconds
    manual_gain: 9.0                # manual exposure gain
    auto_exposure_priority: 0.8     # auto exposure to gain ratio (1 = use only exposure)
    auto_time_limit: 30000          # auto exposure time limit in microseconds
    auto_gain_limit: 2.0            # auto exposure gain limit

    # camera coloring 
    # white balance mode: 0 - none, 1 - use coefficients, 2 = auto
    white_balance_mode: 2
    white_balance_coef_red: 3.0     # white balance red coefficient (0 to 8)
    white_balance_coef_green: 0.0   # white balance green coefficient (0 to 8)
    white_balance_coef_blue: 4.0    # white balance blue coefficient (0 to 8)

    # region of interest
    roi_left: 384                   # top left corner in pixels
    roi_top: 184
    roi_width: 1280                 # width height in pixels (2048)
    roi_height: 720                 # up to (1088)

    #roi_left: 0                    # top left corner in pixels
    #roi_top: 0
    #roi_width: 2048                # width height in pixels (2048)
    #roi_height: 1088               # up to (1088)

    # CV resizing
    # alternative to roi, maintains FOV with an expected performance tradeoff
    cv_resize_enable: false
    cv_height: 512
    cv_width: 640


    # CV inverting for calibration purposes
    cv_invert_enable: false
    
    # lens control -> Only works if lens_mode is set to 1 (XI_ON)
    # lens_mode: 0		                #XI_PRM_LENS_MODE or "lens_mode", 1 to enable lens control, else 0
    # lens_aperture_value: 0.0	      #XI_PRM_LENS_APERTURE_VALUE or "lens_aperture_value"
    # lens_aperture_index: 0          #XI_PRM_LENS_APERTURE_INDEX or "lens_aperture_index"
    # lens_focus_movement_value: 0    #XI_PRM_LENS_FOCUS_MOVEMENT_VALUE or "lens_focus_movement_value"
    # lens_focus_move: 0              #XI_PRM_LENS_FOCUS_MOVE or "lens_focus_move"
    # lens_focal_length: 0 	          #XI_PRM_LENS_FOCAL_LENGTH or "lens_focal_length