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pattacinipattacini
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Merge branch 'camera_templates' into devel
2 parents ed32e5c + f7fdcb5 commit b01aa43

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‎experimentalSetups/camera_templates/camera_template1/cameras.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="cameras" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
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<devices>
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<!-- CAMERAS -->
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<xi:include href="hardware/cameras/camera_left_driver.xml" disabled_by="disable_camera_left" />
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<xi:include href="hardware/cameras/camera_right_driver.xml" disabled_by="disable_camera_right" />
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<xi:include href="wrappers/cameras/camera_left_nws_yarp.xml" disabled_by="disable_camera_left" />
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<xi:include href="wrappers/cameras/camera_right_nws_yarp.xml" disabled_by="disable_camera_right" />
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<xi:include href="wrappers/cameras/camera_left_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_camera_left" />
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<xi:include href="wrappers/cameras/camera_right_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_camera_right" />
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</devices>
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</robot>

‎experimentalSetups/camera_templates/camera_template1/hardware/cameras/camera_left_driver.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="camera_left_driver" type="dragonfly2">
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<param name="period"> 0.033 </param>
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<param name="width"> 320 </param>
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<param name="height"> 240 </param>
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<param name="video_type"> 1 </param>
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<param name="white_balance"> 0.514 0.610 </param>
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<param name="gain"> 0.0 </param>
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<param name="shutter"> 0.913 </param>
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<param name="brightness"> 0 </param>
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<param name="DR2"> 1 </param>
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<param name="stamp"> 1 </param>
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<param name="sharpness"> 0.5 </param>
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<param name="hue"> 0.48 </param>
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<param name="gamma"> 0.4 </param>
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<param name="saturation"> 0.420 </param>
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<param name="framerate"> 30 </param>
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<param name="guid"> 00b09d01009b56fe </param>
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</device>

‎experimentalSetups/camera_templates/camera_template1/wrappers/cameras/camera_left_nws_ros2.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="camera_left_nws_yarp" type="frameGrabber_nws_ros2">
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<param name="period"> 0.033 </param>
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<param name="topic_name"> /icub/cam/left </param>
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<param name="node_name"> /node_icub_cam_left </param>
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<param name="frame_id"> icub_cam_left_frame </param>
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="subdevice"> camera_left_driver </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="10" type="detach" />
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</device>

‎experimentalSetups/camera_templates/camera_template1/wrappers/cameras/camera_left_nws_yarp.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="camera_left_nws_yarp" type="frameGrabber_nws_yarp">
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<param name="period"> 0.033 </param>
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<param name="name"> /icub/cam/left </param>
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="subdevice"> camera_left_driver </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="10" type="detach" />
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</device>

‎experimentalSetups/camera_templates/camera_template2/cameras.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<robot name="cameras" build="1" portprefix="cer" xmlns:xi="http://www.w3.org/2001/XInclude">
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<devices>
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<!-- CAMERAS -->
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<xi:include href="hardware/cameras/camera_driver.xml" />
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<xi:include href="hardware/cameras/camera_left_cropper.xml" disabled_by="disable_camera_left" />
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<xi:include href="hardware/cameras/camera_right_cropper.xml" disabled_by="disable_camera_right" />
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<xi:include href="wrappers/cameras/camera_left_nws_yarp.xml" disabled_by="disable_camera_left" />
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<xi:include href="wrappers/cameras/camera_right_nws_yarp.xml" disabled_by="disable_camera_right" />
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<xi:include href="wrappers/cameras/camera_left_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_camera_left" />
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<xi:include href="wrappers/cameras/camera_right_nws_ros2.xml" enabled_by="enable_ros2" disabled_by="disable_camera_right" />
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</devices>
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</robot>

‎experimentalSetups/camera_templates/camera_template2/hardware/cameras/camera_driver.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="camera_driver" type="usbCamera">
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<param name="capabilities"> COLOR </param>
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<param name="width"> 1280 </param>
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<param name="height"> 480 </param>
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<param name="d"> /dev/video0 </param>
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</device>

‎experimentalSetups/camera_templates/camera_template2/hardware/cameras/camera_left_cropper.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="camera_left_cropper" type="frameGrabber_cropper">
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<param name="x1"> 0 </param>
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<param name="y1"> 0 </param>
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<param name="x2"> 320 </param>
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<param name="y2"> 240 </param>
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<action phase="startup" level="5" type="attach">
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<paramlist name="networks">
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<elem name="subdevice"> camera_driver </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="5" type="detach" />
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</device>

‎experimentalSetups/camera_templates/camera_template2/wrappers/cameras/camera_left_nws_ros2.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="camera_left_nws_yarp" type="frameGrabber_nws_ros2">
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<param name="period"> 0.033 </param>
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<param name="topic_name"> /icub/cam/left </param>
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<param name="node_name"> /node_icub_cam_left </param>
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<param name="frame_id"> icub_cam_left_frame </param>
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="subdevice"> camera_left_cropper </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="10" type="detach" />
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</device>

‎experimentalSetups/camera_templates/camera_template2/wrappers/cameras/camera_left_nws_yarp.xml

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<?xml version="1.0" encoding="UTF-8" ?>
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<!DOCTYPE robot PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
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<device xmlns:xi="http://www.w3.org/2001/XInclude" name="camera_left_nws_yarp" type="frameGrabber_nws_yarp">
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<param name="period"> 0.033 </param>
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<param name="name"> /icub/cam/left </param>
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<action phase="startup" level="10" type="attach">
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<paramlist name="networks">
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<elem name="subdevice"> camera_left_cropper </elem>
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</paramlist>
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</action>
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<action phase="shutdown" level="10" type="detach" />
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</device>

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