# -------------------------------------------------------------------
#  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		= handHeld

# Milliseconds between thread launches
time_between_launches	= 800

use_sensoryframes	= 0

GRABBER_PERIOD_MS	= 1000

# =======================================================
#  SENSOR: CameraOpenCV
#   
# =======================================================
[MyCamera]
driver		= CCameraSensor
process_rate	= 80		// Hz

sensorLabel		= BBCamera

grabber_type	    = bumblebee
preview_decimation  = 5


pose_x			= 0// position on the robot (meters)
pose_y			= 0
pose_z			= 0
pose_yaw		= 0	// Angles in degrees
pose_pitch		= 0
pose_roll		= 0

bumblebee_frame_width   = 1024
bumblebee_frame_height  = 768
bumblebee_get_rectified = 1
capture_grayscale  	= 1

# For externaly stored images, the format of image files (default=jpg)
external_images_format = jpg

# For externaly stored images: whether to spawn an independent process to save the image files.
external_images_own_thread  = 1

# If external_images_own_thread=1, this changes the number of threads to launch
#  to save image files. The default is determined from mrpt::system::getNumberOfProcessors()
#  and should be OK unless you want to save processor time for other things.
#external_images_own_thread_count = 2    // >=1

# (Only when external_images_format=jpg): Optional parameter to set the JPEG compression quality:
#external_images_jpeg_quality = 95    // [1-100]. Default: 95



