/
vision_landing.conf
executable file
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/
vision_landing.conf
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### Config file for vision_landing
[Defaults]
############
# Required #
############
## dronekit connect string can be device eg. /dev/ttyUSB0 for physical connection, or tcp or udp to connect to SITL or proxy
connect=tcp:localhost:5780
# connect=udp:127.0.0.1:14572
## size of fiducial marker in meters, must be accurate for distance calculations
markersize=0.5
## camera calibration data, must be for camera and resolution perspective
calibration=raspicamv1-calibration-640x480.yml
############
# Optional #
############
## Marker size mappings - map multiple marker IDs to different sizes - format marker_id:size - comma separated
# These values are for the old markers/a1-landing.pdf
# sizemapping=12:0.5,36:0.24,85:0.11,161:0.11,166:0.11,227:0.11
# Default mappings are for the new markers/a1-landing-april16h5.pdf
sizemapping=11:0.446,16:0.204,19:0.104,23:0.047
## Which fiducial marker dictionary, can be any dictionary supported by aruco code. Comment out for default ARUCO_MIP_36h12
markerdict=TAG16h5
## Which fiducial marker, if not set will search for closest marker
# markerid=12
## Sets width of video image
width=640
## Sets height of video image
height=480
## Sets FPS of video image. Also used as fudge value when trying to write video to file as otherwise video file can look very sped up.
fps=30
## Set brightness of video image, useful for low light conditions. 0.5 is default, normal value.
# brightness=0.5
## Verbose output, useful for debugging
# verbose=True
## simulator is a boolean option that automatically arms, takes off to 25 metres and initiates landing before
## going into vision loop. Useful for automating landing runs in the simulator.
# simulator=True
## fourcc option is used to tell opencv which video compressor to use, primarily for saving to file. Must match file extension - MJPG and .avi works well.
# fourcc=MJPG
## fakerangefinder MUST be set for arducopter versions less than 3.5rc2 if not using a real rangefinder. This sends distance in a separate distance_sensor message.
# fakerangefinder=true
## output is either a filename to save video to or a gstreamer pipeline. gstreamer pipeline must start with appsrc.
# raspberry hardware encoding
output=appsrc ! autovideoconvert ! omxh264enc ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.1.x port=5000 sync=false
# odroid xu4 hardware encoding
# output=appsrc ! autovideoconvert ! v4l2video11h264enc ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.1.x port=5000 sync=false
# odroid xu4 hardware encoding with options
# output=appsrc ! autovideoconvert ! v4l2video11h264enc extra-controls="encode,h264_level=10,h264_profile=4,frame_level_rate_control_enable=1,video_bitrate=2097152" ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.1.x port=5000 sync=false
# Intel platform hardware encoding to udp stream
# output=appsrc ! videoconvert ! video/x-raw,width=1280,height=720,format=NV12 ! vaapih264enc ! h264parse ! rtph264pay config-interval=1 pt=96 ! udpsink host=192.168.1.88 port=5000 sync=false
# Intel platform hardware encoding to file
# output=appsrc ! videoconvert ! video/x-raw,width=1280,height=720,format=NV12 ! vaapih264enc ! matroskamux ! filesink location=/var/tmp/vision-xxx.mkv
# output=appsrc ! videoconvert ! video/x-raw,width=1280,height=720,format=NV12 ! vaapih264enc ! mpegtsmux ! filesink location=/var/tmp/vision-xxx.avi
# output=/var/tmp/vision.avi
# output='appsrc ! fakesink'
# output=window
## input is either device path to camera, video file or gstreamer pipeline. Defaults to camera /dev/video0
# input=/dev/video0
# input='v4l2src device=/dev/video2 ! videoconvert ! appsink'
## logdir defines where logs should going
logdir=/var/tmp/vision_landing
### Control video processing, only turns vision processing on during landing or precision loiter
controlprocessing=True
estimator=0 # 0=Raw, 1=EKF, refers to ArduPilot ACPrecLand estimator
### Realsense Options
# streamtype = color, infrared or hybrid
streamtype=infrared
# depthscale in micrometers - 1000 is mm scale, 10000 is cm scale
depthscale=1000
# camprofile predefines settings for indoors or outdoors
camprofile=outdoors
# colormap applies a color map to greyscale or depth streams. -1 means no mapping.
# Integer as applies to enum in http://docs.opencv.org/3.2.0/d3/d50/group__imgproc__colormap.html
colormap=-1