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
PARAM_CCY_CAMx	principal point y direction
PARAM_FCX_CAMx	focal length x direction
PARAM_FCY_CAMx	focal length y direction
PARAM_KC1_CAMx	radial distortion param 1
PARAM_KC2_CAMx	radial distortion param 2
PARAM_P1_CAMx	tangential distortion param 1
PARAM_P2_CAMx	tangential distortion param 2
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
STEREO_P1_CAMx	SGM penalty	0-255
STEREO_P2_CAMx	SGM penalty	0-255
STEREO_TH_CAMx	Stereo threshold	0-255
STEREO_LR_CAMx	Stereo LR-check	0-31
STEREO_FP_CAMx	Stereo flip enable L-R	0 / 1
STEREO_OF_CAMx	Stereo disparity offset	0-127
STEREO_CE_CAMx	Stereo cost table output enable	0 / 1
STEREO_MP_01	Stereo multi pass enable	0 / 1
CAMERA_H_FLIP	Swap camera configuration	0 / 1
CAMERA_H_EQUAL	Set equal camera configuration	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	0x01 - 01FF
	BITs 0-4 enable raw output, BITs 5-9 enable stereo output	0x001 = cam0/cam1 raw only , 0x101 = cam0/cam1 raw + stereo
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
IMU_ENABLE	enable imus	0-2
GYRO_RANGE	set gyro range +/- 250/500/1000/2000 dps
GYRO_LP	set gyro lowpass
ACCEL_RANGE	set accelerometer range +/- 2/4/8/16 g
ACCEL_LP	set accelerometer lowpass