orbbec_camera/config/camera_params.yaml

# common params
depth_registration: false
enable_point_cloud: true
enable_colored_point_cloud: false
device_preset: "High Accuracy"
time_domain: "global" # global, device, system
enable_sync_host_time: true
frames_per_trigger: 1
log_level: "warning"
enable_laser: false

interleave_frame_enable: true
interleave_skip_enable: true

# color params
enable_color: true
color_width: 640
color_height: 360
color_fps: 60
color_format: "MJPG"
enable_color_auto_exposure: true
color_exposure: 50 # 5ms
color_gain: -1 # -1 default
color_qos: "sensor_data"
color_camera_info_qos: "sensor_data"

# depth params
enable_depth: true
depth_width: 640
depth_height: 360
depth_fps: 60
depth_format: "Y16"
depth_qos: "sensor_data"
depth_camera_info_qos: "sensor_data"

# ir exposure
enable_ir_auto_exposure: false
ir_exposure: 5000
ir_gain: 40

#left ir params
enable_left_ir: true
left_ir_width: 640
left_ir_height: 360
left_ir_fps: 60
left_ir_format: "Y8"
left_ir_qos: "sensor_data"
left_ir_camera_info_qos: "sensor_data"

#right ir params
enable_right_ir: true
right_ir_width: 640
right_ir_height: 360
right_ir_fps: 60
right_ir_format: "Y8"
right_ir_qos: "sensor_data"
right_ir_camera_info_qos: "sensor_data"
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00			`# common params`
add frame drop judgement 2024-11-26 23:33:54 +08:00			`depth_registration: false`
Update sdk to v2.2.8 and replace Repeat using clean IR video and speckle depth video with skip frame 2025-03-17 18:13:34 +08:00			`enable_point_cloud: true`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00			`enable_colored_point_cloud: false`
fix preset name bug to High Accuracy, change image height from 480 to 360 2024-12-13 23:45:02 -05:00			`device_preset: "High Accuracy"`
only set the interleave param when interleave_frame_enable is enabled 2024-12-05 19:56:43 +08:00			`time_domain: "global" # global, device, system`
update launch.py 2024-12-25 14:50:27 +08:00			`enable_sync_host_time: true`
support G335Lg multi camera sync 2024-10-16 22:25:35 +08:00			`frames_per_trigger: 1`
update launch.py 2024-12-25 14:50:27 +08:00			`log_level: "warning"`
			`enable_laser: false`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00
Update 330 launch 2025-01-05 20:53:17 +08:00			`interleave_frame_enable: true`
			`interleave_skip_enable: true`

chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00			`# color params`
			`enable_color: true`
			`color_width: 640`
change enable_laser to false 2024-12-17 09:21:06 -05:00			`color_height: 360`
set color_fps to 60 to output the color stream 2024-12-16 03:30:30 -05:00			`color_fps: 60`
change color resoution to 640*360 30fps 2024-12-14 09:01:02 -05:00			`color_format: "MJPG"`
Update sample yaml files 2025-01-06 20:28:11 +08:00			`enable_color_auto_exposure: true`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00			`color_exposure: 50 # 5ms`
			`color_gain: -1 # -1 default`
use frame timestamp for duration and fps judgement 2024-11-27 16:22:13 +08:00			`color_qos: "sensor_data"`
Update sdk to v2.2.8 and replace Repeat using clean IR video and speckle depth video with skip frame 2025-03-17 18:13:34 +08:00			`color_camera_info_qos: "sensor_data"`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00
			`# depth params`
Update sample yaml files 2025-01-06 20:28:11 +08:00			`enable_depth: true`
change image resolution 2024-12-15 07:54:07 -05:00			`depth_width: 640`
change enable_laser to false 2024-12-17 09:21:06 -05:00			`depth_height: 360`
support 60hz video fps 2024-12-05 21:35:53 +08:00			`depth_fps: 60`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00			`depth_format: "Y16"`
use frame timestamp for duration and fps judgement 2024-11-27 16:22:13 +08:00			`depth_qos: "sensor_data"`
Update sdk to v2.2.8 and replace Repeat using clean IR video and speckle depth video with skip frame 2025-03-17 18:13:34 +08:00			`depth_camera_info_qos: "sensor_data"`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00
			`# ir exposure`
Update save_rgbir qos profile 2025-03-26 15:36:50 +08:00			`enable_ir_auto_exposure: false`
change image resolution 2024-12-15 07:54:07 -05:00			`ir_exposure: 5000`
			`ir_gain: 40`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00
			`#left ir params`
chore: Update time sync interface 2024-07-10 15:02:11 +08:00			`enable_left_ir: true`
change image resolution 2024-12-15 07:54:07 -05:00			`left_ir_width: 640`
change enable_laser to false 2024-12-17 09:21:06 -05:00			`left_ir_height: 360`
support 60hz video fps 2024-12-05 21:35:53 +08:00			`left_ir_fps: 60`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00			`left_ir_format: "Y8"`
use frame timestamp for duration and fps judgement 2024-11-27 16:22:13 +08:00			`left_ir_qos: "sensor_data"`
Update sdk to v2.2.8 and replace Repeat using clean IR video and speckle depth video with skip frame 2025-03-17 18:13:34 +08:00			`left_ir_camera_info_qos: "sensor_data"`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00
			`#right ir params`
chore: Update time sync interface 2024-07-10 15:02:11 +08:00			`enable_right_ir: true`
change image resolution 2024-12-15 07:54:07 -05:00			`right_ir_width: 640`
change enable_laser to false 2024-12-17 09:21:06 -05:00			`right_ir_height: 360`
support 60hz video fps 2024-12-05 21:35:53 +08:00			`right_ir_fps: 60`
chore: Optimal gemini 330 launch file 2024-07-10 14:46:08 +08:00			`right_ir_format: "Y8"`
use frame timestamp for duration and fps judgement 2024-11-27 16:22:13 +08:00			`right_ir_qos: "sensor_data"`
Update sdk to v2.2.8 and replace Repeat using clean IR video and speckle depth video with skip frame 2025-03-17 18:13:34 +08:00			`right_ir_camera_info_qos: "sensor_data"`