Revision 277050c7 cfg/humotion.cfg
| cfg/humotion.cfg | ||
|---|---|---|
| 1 | 1 |
#!/usr/bin/env python |
| 2 |
import re |
|
| 2 | 3 |
PACKAGE = "humotion" |
| 3 | 4 |
from dynamic_reconfigure.parameter_generator_catkin import * |
| 4 | 5 |
|
| 5 |
gen = ParameterGenerator() |
|
| 6 |
def fetch_default(param_name): |
|
| 7 |
for line in open("../src/server/config.cpp"):
|
|
| 8 |
if param_name in line: |
|
| 9 |
result = re.findall("=\s*([\d.]+)", line)
|
|
| 10 |
print result |
|
| 11 |
if result: |
|
| 12 |
return float(result[0]) |
|
| 13 |
else: |
|
| 14 |
print("ERROR: could not find parameter %s in config.cpp" % (param_name))
|
|
| 15 |
sys.exit(1) |
|
| 16 |
|
|
| 17 |
def add_entry(group, param_name, descr, min, max): |
|
| 18 |
default_val = fetch_default(param_name) |
|
| 19 |
if (default_val > max): |
|
| 20 |
print("ERROR: default value %f for %s exceeds max value (%f)" % (default_val, param_name, max))
|
|
| 21 |
sys.exit(1) |
|
| 22 |
if (default_val < min): |
|
| 23 |
print("ERROR: default value %f for %s is under min value (%f)" % (default_val, param_name, min))
|
|
| 24 |
sys.exit(1) |
|
| 25 |
|
|
| 26 |
group.add(param_name, double_t, 0, descr, default_val, min, max) |
|
| 6 | 27 |
|
| 7 |
general_group = gen.add_group("general")
|
|
| 8 |
general_group.add("eye_saccade_velocity_threshold", double_t, 0, "eye velocity threshold for saccade detection (in deg/s)", 15.0, 1.0, 30.0)
|
|
| 9 |
general_group.add("neck_saccade_threshold", double_t, 0, "magnitude of gaze change that triggers neck saccade (in deg)", 15.0, 1.0, 30.0)
|
|
| 10 |
general_group.add("neck_saccade_omr_trigger", double_t, 0, "a deflection exceeding <VAL> * OMR will trigger a correction neck saccade", 0.95, 0.1, 1.0)
|
|
| 28 |
gen = ParameterGenerator() |
|
| 11 | 29 |
|
| 12 |
neck_group = gen.add_group("neck")
|
|
| 13 |
neck_group.add("neck_max_acceleration", int_t, 0, "maximum neck acceleration limit (in deg/s^2)", 1000, 100, 4000)
|
|
| 14 |
neck_group.add("neck_max_velocity", int_t, 0, "maximum neck velocity limit (in deg/s)", 1000, 100, 800)
|
|
| 15 |
neck_group.add("neck_velocity_scale", double_t, 0, "scaling factor for neck accelerations (1.0 = full human velocities)", 0.7, 0.1, 1.0)
|
|
| 30 |
general_group = gen.add_group("thresholds")
|
|
| 31 |
add_entry(general_group, "threshold_velocity_eye_saccade", "velocity threshold for eye saccade detection (in deg/s)", 1.0, 30.0)
|
|
| 32 |
add_entry(general_group, "threshold_angle_neck_saccade", "magnitude of gaze change that triggers neck saccade (in deg)", 1.0, 30.0)
|
|
| 33 |
add_entry(general_group, "threshold_angle_omr_limit", "threshold for a deflection that triggers a correction neck saccade (in percent of OMR)", 0.1, 1.0)
|
|
| 16 | 34 |
|
| 17 |
#float max_speed = (CONST_GUITTON87_A * distance_abs + CONST_GUITTON87_B); |
|
| 18 |
neck_group.add("neck_velocity_lin_eq_const_a", double_t, 0, "constant A (scale) for linear velocity equation (guitton 4.39)", 4.39 / 2.0, 1.0, 10.0)
|
|
| 19 |
neck_group.add("neck_velocity_lin_eq_const_b", double_t, 0, "constant B (offset) for linear velocity equation (guitton 4.39)", 106.0 / 2.0, 1, 200)
|
|
| 20 | 35 |
|
| 21 |
#others |
|
| 22 |
neck_group.add("neck_breath_period", int_t, 0, "breath period (inhale+pause+exhale) in ms)", 3*1500, 3000, 5000)
|
|
| 23 |
neck_group.add("neck_breath_amplitude", double_t, 0, "amplitude of head tilt deflection during breath (given in deg)", 1.0, 0.0, 5.0)
|
|
| 36 |
neck_group = gen.add_group("neck")
|
|
| 37 |
add_entry(neck_group, "scale_velocity_neck", "scaling factor for neck velocity (in percent, 1.0 = full human velocities)", 0.1, 1.0) |
|
| 38 |
add_entry(neck_group, "scale_acceleration_neck", "scaling factor for neck acceleration (in percent, 1.0 = full human acceleration)", 0.1, 1.0) |
|
| 39 |
add_entry(neck_group, "limit_velocity_neck", "limit for neck velocity (in deg/s)", 100.0, 800.0) |
|
| 40 |
add_entry(neck_group, "limit_acceleration_neck", "limit for neck acceleration (in deg/s^2)", 100.0, 10000.0) |
|
| 24 | 41 |
|
| 25 | 42 |
eye_group = gen.add_group("eye")
|
| 26 |
eye_group.add("eye_max_acceleration", int_t, 0, "maximum eye acceleration limit (in deg/s^2)", 80000, 1000, 80000)
|
|
| 27 |
eye_group.add("eye_max_velocity", int_t, 0, "maximum eye velocity limit (in deg/s)", 700, 100, 700)
|
|
| 28 |
eye_group.add("eye_velocity_scale", double_t, 0, "scaling factor for eye accelerations (1.0 = full human velocities)", 1.0, 0.1, 1.0)
|
|
| 43 |
add_entry(eye_group, "scale_velocity_eye", "scaling factor for eye velocity (in percent, 1.0 = full human velocities)", 0.1, 1.0) |
|
| 44 |
add_entry(eye_group, "scale_acceleration_eye", "scaling factor for eye acceleration (in percent, 1.0 = full human acceleration)", 0.1, 1.0) |
|
| 45 |
add_entry(eye_group, "limit_velocity_eye", "limit for eye velocity (in deg/s)", 100.0, 1000.0) |
|
| 46 |
add_entry(eye_group, "limit_acceleration_eye", "limit for eye acceleration (in deg/s^2)", 100.0, 80000.0) |
|
| 29 | 47 |
|
| 30 | 48 |
eyeblink_group = gen.add_group("eyeblink")
|
| 31 |
eyeblink_group.add("eyeblink_duration", int_t, 0, "eyeblink duration (in ms)", 150, 50, 500)
|
|
| 32 |
eyeblink_group.add("eyeblink_every_min", int_t, 0, "eyeblink every n ms, lower bound (in ms)", 2000, 1000, 10000)
|
|
| 33 |
eyeblink_group.add("eyeblink_every_max", int_t, 0, "eyeblink every n ms, upper bound (in ms)", 10000, 1000, 20000)
|
|
| 34 |
eyeblink_group.add("eyeblink_blocking_time", int_t, 0, "eyeblink blocked timeout (in ms)", 1000, 100, 5000)
|
|
| 35 |
|
|
| 36 |
|
|
| 37 |
|
|
| 38 |
|
|
| 39 |
#eyelid: |
|
| 40 |
# static const float SACCADE_SPEED_THRESHOLD; |
|
| 41 |
# static const float EYEBLINK_DURATION_MS; |
|
| 42 |
# static const float EYEBLINK_EYERY_MS_MIN; |
|
| 43 |
# static const float EYEBLINK_EYERY_MS_MAX; |
|
| 44 |
# static const float EYEBLINK_BLOCKING_TIME; |
|
| 45 |
# |
|
| 46 |
|
|
| 47 |
# static const float MOUTH_MIN_OPENING; |
|
| 48 |
# |
|
| 49 |
#neck |
|
| 50 |
# static const float CONST_GUITTON87_A; |
|
| 51 |
# static const float CONST_GUITTON87_B; |
|
| 52 |
# |
|
| 53 |
# static const float CONST_BREATH_PERIOD; |
|
| 54 |
# static const float CONST_BREATH_AMPLITUDE; |
|
| 55 |
# |
|
| 56 |
#misc for neck and eyes: |
|
| 57 |
#max accel |
|
| 58 |
#v_scale |
|
| 59 |
|
|
| 60 |
#timing_mode_enum = gen.enum([ |
|
| 61 |
# gen.const("free_running", int_t, 0, "camera acquires images at a maximum possible framerate"),
|
|
| 62 |
# gen.const("frame_rate", int_t, 1, "please refer to xiAPI Frame Rate Control support page")], "enum to configure timing mode")
|
|
| 63 |
#gen.add("acq_timing_mode", int_t, 0, "A size parameter which is edited via an enum", 1, 0, 3, edit_method=timing_mode_enum)######
|
|
| 64 |
# |
|
| 65 |
#gen.add("framerate", double_t, 0, "Defines frames per second of sensor. see also acq_timint_mode", 30, 1.0, 200.0)
|
|
| 66 |
# |
|
| 67 |
#gen.add("gain", double_t, 0, "Gain in dB", 0, -1.5, 6)
|
|
| 68 |
#gen.add("exposure", double_t, 0, "Exposure time in us", 26, 26, 1e+04)
|
|
| 69 |
#gen.add("aeag", bool_t, 0, "Automatic exposure/gain", False)
|
|
| 70 |
#gen.add("aeag_roi_offset_x", int_t, 0, "Automatic exposure/gain ROI offset X", 0, 0, 2040)
|
|
| 71 |
#gen.add("aeag_roi_offset_y", int_t, 0, "Automatic exposure/gain ROI offset Y", 0, 0, 1080)
|
|
| 72 |
#gen.add("aeag_roi_width", int_t, 0, "Automatic exposure/gain ROI Width", 2040, 0, 2040)
|
|
| 73 |
#gen.add("aeag_roi_height", int_t, 0, "Automatic exposure/gain ROI Height", 1080, 0, 1080)
|
|
| 74 |
#gen.add("bpc", bool_t, 0, "Correction of bad pixels", False)
|
|
| 75 |
#gen.add("auto_wb", bool_t, 0, "Automatic white balance", False)
|
|
| 76 |
#gen.add("width", int_t, 0, "Width of the Image provided by the device (in pixels)", 2040, 16, 2040)
|
|
| 77 |
#gen.add("height", int_t, 0, "Height of the Image provided by the device (in pixels)", 1080, 2, 1080)
|
|
| 78 |
#gen.add("offsetX", int_t, 0, "Horizontal offset from the origin to the area of interest (in pixels)", 0, 0, 2040)
|
|
| 79 |
##gen.add("offsetY", int_t, 0, "Vertical offset from the origin to the area of interest (in pixels)", 0, 0, 1080)
|
|
| 80 |
# |
|
| 81 |
#gen.add("recent_frame", bool_t, 0, "Retrieve the most recent frame instead of the next in buffer", False);
|
|
| 49 |
add_entry(eyeblink_group, "eyeblink_duration", "duration for an eyeblink (in seconds)", 0.01, 1.0) |
|
| 50 |
add_entry(eyeblink_group, "eyeblink_periodic_distribution_lower", "lower bound for probalistic eyeblink distribution (in seconds)", 0.1, 100.0) |
|
| 51 |
add_entry(eyeblink_group, "eyeblink_periodic_distribution_upper", "upper bound for probalistic eyeblink distribution (in seconds)", 0.1, 100.0) |
|
| 52 |
add_entry(eyeblink_group, "eyeblink_probability_after_saccade", "probability for an eyeblink after a saccade (in percent)", 0.01, 1.0) |
|
| 53 |
add_entry(eyeblink_group, "eyeblink_blocked_time", "blocking time for further eyeblinks (in seconds)", 0.1, 100.0) |
|
| 54 |
|
|
| 55 |
breath_group = gen.add_group("breath")
|
|
| 56 |
add_entry(breath_group, "breath_period", "duration for a full breath periond: inhale, pause and exhale (in seconds)", 1.0, 100.0) |
|
| 57 |
add_entry(breath_group, "breath_amplitude", "amplitude for breath animation (in deg)", 0.0, 10.0) |
|
| 82 | 58 |
|
| 83 | 59 |
exit(gen.generate(PACKAGE, "humotion", "humotion")) |
| 84 | 60 |
|
Also available in: Unified diff