Parameters

There is a variety of parameters available to control the multi camera system, please see the table below. The mavlink parameter protocol is used.

To set for e.g. parameter CAMERA_ENABLE you can use:

setParam("CAMERA_ENABLE", 0.0f);

Parameter Name	Description	Range
PARAM_CCX_CAMx	principal point x direction	[-2000 +2000]
PARAM_CCY_CAMx	principal point y direction	[-2000 +2000]
PARAM_FCX_CAMx	focal length x direction	[-2000 +2000]
PARAM_FCY_CAMx	focal length y direction	[-2000 +2000]
PARAM_KC1_CAMx	radtan: radial distortion param 1	[-2 +2]
	equi: radial distortion param 1	[-16 +16]
PARAM_KC2_CAMx	radtan: radial distortion param 2	[-2 +2]
	equi: radial distortion param 2	[-16 +16]
PARAM_KC3_CAMx	radtan: tangential distortion param 1	[-2 +2]
	equi: radial distortion param 3	[-16 +16]
PARAM_KC4_CAMx	radtan: tangential distortion param 2	[-2 +2]
	equi: radial distortion param 4	[-16 +16]
PARAM_H11_CAMx	homography matrix
PARAM_H12_CAMx	homography matrix
PARAM_H13_CAMx	homography matrix
PARAM_H21_CAMx	homography matrix
PARAM_H22_CAMx	homography matrix
PARAM_H23_CAMx	homography matrix
PARAM_H31_CAMx	homography matrix
PARAM_H32_CAMx	homography matrix
PARAM_H33_CAMx	homography matrix
IM_H_FLIP_CAMx	horizontal camera input flip	0 / 1
IM_V_FLIP_CAMx	vertical camera input flip	0 / 1
STEREO_FP_CAMx	Stereo flip enable L-R	0 / 1
STEREO_RE_CAMx	Stereo corrected right camera output enable in depth image stream	0 / 1
STEREO_CE_CAMx	Stereo cost table output enable in rect camera stream	0 / 1
STEREO_TH_CAMx	Stereo threshold, values below threshold are valid	[0 255]
STEREO_LR_CAMx	Stereo LR-check allowed pixel difference	[0 31]
STEREO_OF_CAMx	Stereo disparity offset	0-127
STEREO_P1_CAMx	SGM penalty1	[0 255]
STEREO_P2_CAMx	SGM penalty2	[0 255]
STEREO_BAYER_D	Disable bayer pattern removing filter in stereo module	0 / 1
CAMERA_AUTOEXP	Enable auto exposure AEC function	0 / 1
CAMERA_EXP	Exposure time when AEC disabled	0-480
CAMERA_MIN_E	Minimum exposure time when AEC enabled	0-480
CAMERA_MAX_E	Maximum exposure time when AEC enabled	0-480
CAMERA_DES_EG	Desired brightness value when AEC enabled	0-64
CAMERA_LP_E	Low pass mode of AEC changes	0-3
CAMERA_SKP_E	Frames to skip before AEC changes	0-3
CAMERA_AUTOG	Enable auto gain AGC function	0 / 1
CAMERA_GAIN	Gain when AGC disabled	16-64
CAMERA_MAX_G	Maximum gain value when AGC enabled	16-64
CAMERA_LP_G	Low pass mode of AGC changes	0-3
CAMERA_SKP_G	Frames to skip before AGC changes	0-3
CAMERA_ENABLE	enable camera pairs and stereo output	0x000 - 01FF
	BITs 0-4 enable raw output	0x001 = cam0/cam1 raw
	BITs 5-9 enable stereo output	0x021 = cam0/cam1 raw + stereo0/1
		0x023 = cam0/cam1 raw + cam2/cam3 raw + stereo0/1
CALIB_GAIN	Fixed point implementation gain	0-7000
SETCALIB	Write calibration parameters in FPGA registers	0 / 1
RESETMT9V034	Reset MT9V034 image sensors	0 / 1
RESETICM20608	Reset ICM20608 imu sensors	0 / 1
P_MODE	enable primary cam pair mode	0 / 1
CAMERA_TILE	enable bottom tiles exposure mode (for bright upper camera images - i.e. outside)	0 / 1
ADIS_IMU	enable ADIS IMU read out if attached	0 / 1
IMU_ENABLE	enable imus, 0= no imu read, 1= one imu, 2= two imu's	0-9
GYRO_RANGE	set gyro range +/- 250/500/1000/2000 dps	0x00, 0x08, 0x10, 0x18
GYRO_LP	set gyro lowpass
ACCEL_RANGE	set accelerometer range +/- 2/4/8/16 g	0x00, 0x08, 0x10, 0x18
ACCEL_LP	set accelerometer lowpass