# -------------------------------------------------------------------
#  Config file for the "rawlog-grabber" application
# Read more online: 
# http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/
# -------------------------------------------------------------------

#  Each section [XXXXX] (but [global]) setups a thread in the RawLogGrabber 
#   standalone application. Each thread collects data from some
#   sensor or device, then the main thread groups and orders them before
#   streaming everything to a rawlog file.
#
#  The name of the sections can be arbitrary and independent of the sensor label. 
#   The driver for each sensor is actually determined by the field "driver", which must
#   match the name of some class in mrpt::hwdrivers implementing CGenericSensor.


# =======================================================
#  Section: Global settings to the application
#   
# =======================================================
[global]
# The prefix can contain a relative or absolute path.
# The final name will be <PREFIX>_date_time.rawlog
rawlog_prefix		= dataset

# Milliseconds between thread launches
time_between_launches	= 800

use_sensoryframes	= 0

GRABBER_PERIOD_MS	= 1000

# =======================================================
#  SENSOR: CameraOpenCV
#   
# =======================================================
[CameraOpenCV]
driver			= CCameraSensor
process_rate		= 30	// Hz

sensorLabel		= CAMERA1

grabber_type     	= dc1394   // Select one of two grabber implementations.
preview_decimation	= 0

# Options for grabber_type= dc1394
dc1394_camera_guid   	= 0     // 0 (or not present): the first camera// A hexadecimal number: The GUID of the camera to open
#dc1394_camera_guid   	= 0x7099112233     // 0 (or not present): the first camera// A hexadecimal number: The GUID of the camera to open
dc1394_camera_unit   	= 0     // 0 (or not present): the first camera// 0,1,2,...: The unit number (within the given GUID) of the camera to open (Stereo cameras: 0 or 1)
dc1394_frame_width	= 640
dc1394_frame_height	= 480
dc1394_framerate	= 15					// eg: 7.5, 15, 30, 60, etc... For posibilities see mrpt::vision::TCaptureOptions_dc1394
dc1394_color_coding	= COLOR_CODING_YUV422	// For posibilities see mrpt::vision::TCaptureOptions_dc1394
# Features and trigger: see mrpt::hwdrivers::CCameraSensor for all possibilities
# Features: brightness | exposure | sharpness | white_balance | gamma | shutter | gain
dc1394_brightness	= -1	// A value, or -1 (or not present) for not to change this parameter in the camera
dc1394_brightness_mode	= -1	// -1 (or not present) for not to change | 0 [manual] | 1 [auto] | 2 [one_push_auto]
# Options for setting trigger options:
dc1394_trigger_power	= -1    // -1 (or not present) for not to change | 0 [OFF] | 1 [ON]
dc1394_trigger_mode	= -1    // -1 (or not present) for not to change | 0..7 corresponding to possible modes 0,1,2,3,4,5,14,15
dc1394_trigger_source	= -1    // -1 (or not present) for not to change | 0..4 corresponding to possible sources 0,1,2,3,SOFTWARE
dc1394_trigger_polarity = -1 	// -1 (or not present) for not to change | 0 [ACTIVE_LOW] | 1 [ACTIVE_HIGH]


# Pose of the sensor on the robot:
pose_x			= 0// position on the robot (meters)
pose_y			= 0
pose_z			= 0.5
pose_yaw		= 0	// Angles in degrees
pose_pitch		= 0
pose_roll		= 0


