pyvoyis.yaml

ip_address: 192.168.10.26
port: 4875
log_path: /home/user/.pyvoyis

pps_input:
  ip_address: 192.168.10.26:4010
  mode: tcp_server

navigation_input:
  ip_address: 192.168.10.10:4003
  mode: tcp_client
  driver: psonnav

range_input:
  ip_address: 192.168.10.10:4004
  mode: tcp_client
  driver: lnav

parameters:
  # Stills camera
  stills_freq_hz: 1.0
  stills_exp_us: 4000

  # Undistort images
  stills_undistort: true
  # Save RAW TIFF images
  stills_save_original: true
  # tiff (uncompressed) or jpg (compressed)
  stills_processed_image_format: jpg

  # Image levelling
  # * 0 - Disable leveling
  # * 1 - Enable Algorithmic leveling
  # * 2 - Enable Realistic leveling
  # * 3 - Enable Advanced leveling (needs correction model)
  stills_image_level: 2
  # 0 - True Colour, 1 - Enhanced Colour
  stills_advanced_colour_mode: 1
  # 1 - LOW, 2 - MED, 3 - HIGH
  stills_advanced_colour_enhancement_lvl: 1
  # 0 - Standard, 1 - Colour
  stills_advanced_contrast_mode: 0
  # 0 - OFF, 1 - LOW, 2 - MED, 3 - HIGH
  stills_advanced_contrast_lvl: 1
  # Brightness and contrast ratios
  stills_advanced_brightness: 0.35
  stills_advanced_contrast: 0.15
  # 0 - disable, 1 - enable
  stills_advanced_white_balance: 0
  #  0 - disable, 1 - enable
  stills_advanced_adaptive_lighting: 0

  # Laser camera
  laser_freq_hz: 1.0
  laser_exp_us: 4000
  save_laser_images: true
  laser_gain_percentage: 100

  # Range gating
  laser_disable_range_gating: true
  laser_min_range_cm: 100
  laser_max_range_cm: 1000

  # LED panel
  led_panel_intensity_percentage: 100

  # Refraction
  index_of_refraction: 1.35

endpoint_id:
  # Local storage disabled by default
  # NAS storage disabled by default
  base_path: /data/data
  mission_postfix: smarty200
  log: log/log
  stream: internal/raw
  xyz_laser: pointcloud/pointcloud
  sensor_laser: laser/laser
  sensor_stills_raw: stills/raw/raw
  sensor_stills_processed: stills/processed/processed