humotion

#!/usr/bin/env python

PACKAGE = "humotion"

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()

general_group = gen.add_group("general")

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)

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)

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)

neck_group = gen.add_group("neck")

neck_group.add("neck_max_acceleration", int_t, 0, "maximum neck acceleration limit (in deg/s^2)", 1000, 100, 4000)

neck_group.add("neck_max_velocity", int_t, 0, "maximum neck velocity limit (in deg/s)", 1000, 100, 800)

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)

#float max_speed = (CONST_GUITTON87_A * distance_abs + CONST_GUITTON87_B);

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)

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)

#others

neck_group.add("neck_breath_period", int_t, 0, "breath period (inhale+pause+exhale) in ms)", 3*1500, 3000, 5000)

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)

eye_group = gen.add_group("eye")

eye_group.add("eye_max_acceleration", int_t, 0, "maximum eye acceleration limit (in deg/s^2)", 80000, 1000, 80000)

eye_group.add("eye_max_velocity", int_t, 0, "maximum eye velocity limit (in deg/s)", 700, 100, 700)

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)

eyeblink_group = gen.add_group("eyeblink")

eyeblink_group.add("eyeblink_duration", int_t, 0, "eyeblink duration (in ms)", 150, 50, 500)

eyeblink_group.add("eyeblink_every_min", int_t, 0, "eyeblink every n ms, lower bound (in ms)",  2000, 1000, 10000)

eyeblink_group.add("eyeblink_every_max", int_t, 0, "eyeblink every n ms, upper bound (in ms)", 10000, 1000, 20000)

eyeblink_group.add("eyeblink_blocking_time", int_t, 0, "eyeblink blocked timeout (in ms)", 1000, 100, 5000)

#eyelid:

# static const float SACCADE_SPEED_THRESHOLD;

#    static const float EYEBLINK_DURATION_MS;

#    static const float EYEBLINK_EYERY_MS_MIN;

#    static const float EYEBLINK_EYERY_MS_MAX;

#    static const float EYEBLINK_BLOCKING_TIME;

#

# static const float MOUTH_MIN_OPENING;

#

#neck

#    static const float CONST_GUITTON87_A;

#    static const float CONST_GUITTON87_B;

#

#    static const float CONST_BREATH_PERIOD;

#    static const float CONST_BREATH_AMPLITUDE;

#

#misc for neck and eyes:

#max accel

#v_scale

#timing_mode_enum = gen.enum([

#    gen.const("free_running", int_t, 0, "camera acquires images at a maximum possible framerate"),

#    gen.const("frame_rate", int_t, 1, "please refer to xiAPI Frame Rate Control support page")], "enum to configure timing mode")

#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)######

#

#gen.add("framerate", double_t, 0, "Defines frames per second of sensor. see also acq_timint_mode", 30, 1.0, 200.0)

#

#gen.add("gain", double_t, 0, "Gain in dB", 0, -1.5, 6)

#gen.add("exposure", double_t, 0, "Exposure time in us", 26, 26, 1e+04)

#gen.add("aeag", bool_t, 0, "Automatic exposure/gain", False)

#gen.add("aeag_roi_offset_x", int_t, 0, "Automatic exposure/gain ROI offset X", 0, 0, 2040)

#gen.add("aeag_roi_offset_y", int_t, 0, "Automatic exposure/gain ROI offset Y", 0, 0, 1080)

#gen.add("aeag_roi_width", int_t, 0, "Automatic exposure/gain ROI Width", 2040, 0, 2040)

#gen.add("aeag_roi_height", int_t, 0, "Automatic exposure/gain ROI Height", 1080, 0, 1080)

#gen.add("bpc", bool_t, 0, "Correction of bad pixels", False)

#gen.add("auto_wb", bool_t, 0, "Automatic white balance", False)

#gen.add("width", int_t, 0, "Width of the Image provided by the device (in pixels)", 2040, 16, 2040)

#gen.add("height", int_t, 0, "Height of the Image provided by the device (in pixels)", 1080, 2, 1080)

#gen.add("offsetX", int_t, 0, "Horizontal offset from the origin to the area of interest (in pixels)", 0, 0, 2040)

##gen.add("offsetY", int_t, 0, "Vertical offset from the origin to the area of interest (in pixels)", 0, 0, 1080)

#

#gen.add("recent_frame", bool_t, 0, "Retrieve the most recent frame instead of the next in buffer", False);

exit(gen.generate(PACKAGE, "humotion", "humotion"))