Added binning parameter

ros-drivers · Jan 18, 2024 · cbf9604 · cbf9604
1 parent f5ffece
commit cbf9604
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diff --git a/spinnaker_camera_driver/config/blackfly_s.yaml b/spinnaker_camera_driver/config/blackfly_s.yaml
@@ -14,6 +14,12 @@ parameters:
     # Some formats are e.g. "Mono8", "BayerRG8", "BGR8", "BayerRG16"
     # default is "BayerRG8"
     node: ImageFormatControl/PixelFormat
+  - name: binning_x
+    type: int
+    node: ImageFormatControl/BinningHorizontal
+  - name: binning_y
+    type: int
+    node: ImageFormatControl/BinningVertical
   - name: image_width
     type: int
     node: ImageFormatControl/Width
@@ -26,6 +32,7 @@ parameters:
   - name: offset_y
     type: int
     node: ImageFormatControl/OffsetY
+
   #
   # -------- analog control
   #

diff --git a/spinnaker_camera_driver/launch/driver_node.launch.py b/spinnaker_camera_driver/launch/driver_node.launch.py
@@ -43,6 +43,8 @@
         # 'image_height': 1080,
         # 'offset_x': 16,
         # 'offset_y': 0,
+        # 'binning_x': 1,
+        # 'binning_y': 1,
         'frame_rate_auto': 'Off',
         'frame_rate': 40.0,
         'frame_rate_enable': True,