# If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. This setting is designed to prevent USB 3.0 devices from being mistakenly identified as USB 2.0.
# It is recommended to set this parameter to false when using a USB 2.0 connection to avoid unnecessary resets
retry_on_usb3_detection_failure:false
# If true, the heartbeat will be enabled
enable_heartbeat:false
# If true, the camera will be reset
enable_hardware_reset:false
# If true, the LDP will be enabled
enable_ldp:true
# The preset of the device. #For details, Please refer to the comments in SDK/include/libobsensor/Advanced.h for a detailed explanation
# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
device_preset:"Default"
network_device:
# Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices.
# When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true.
enumerate_net_device:false
# Port number of the network device. If 0, a random port will be used
net_device_port:0
# IP address of the network device.
net_device_ip:""
color:
# If true, the color image will be enabled
enable_color:true
# Quality of Service for the color image topic and the color camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
color_qos:"default"
color_camera_info_qos:"default"
# Width of the color image. If 0, the default width will be used
color_width:0
# Height of the color image. If 0, the default height will be used
color_height:0
# Fps of the color image. If 0, the default FPS will be used
# left edge of the auto exposure region of interest. If -1, the default value will be used
color_ae_roi_left:-1
# top edge of the auto exposure region of interest. If -1, the default value will be used
color_ae_roi_top:-1
# right edge of the auto exposure region of interest. If -1, the default value will be used
color_ae_roi_right:-1
# bottom edge of the auto exposure region of interest. If -1, the default value will be used
color_ae_roi_bottom:-1
# Manual exposure must set enable_color_auto_exposure: false
color_manual_ae:
# exposure value for the color image. If -1, the default exposure will be used
color_exposure:-1
# gain value for the color image. If -1, the default gain will be used
color_gain:-1
# brightness value for the color image. If -1, the default brightness will be used
color_brightness:-1
depth:
# If true, the depth image will be enabled
enable_depth:true
# Quality of Service for the depth image topic and the depth camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
depth_qos:"default"
depth_camera_info_qos:"default"
# Width of the depth image. If 0, the default width will be used
depth_width:0
# Height of the depth image. If 0, the default height will be used
depth_height:0
# Fps of the depth image. If 0, the default FPS will be used
# If true, the depth image will be flipped horizontally
flip_depth:false
# If false, the depth scale will not be enabled
enable_depth_scale:true
# Depth accuracy, the format should be 1mm. The default value is 1mm.
depth_precision:""
# D2C Depth registration mode.
# Enables hardware that aligns depth frames to color frames. This field is required when setting enable_colored_point_cloud to true
depth_registration:true
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode:"SW"
# Gemini 2, Gemini 2 L, and Gemini 2 XL cameras support deep working mode switching
# Specific camera deep working mode support types can be found in the deep mode comments.
# Deep working mode support is as follows:{"Unbinned Dense Default","Unbinned Sparse Default","Binned Sparse Default","Obstacle Avoidance"}
# Depth work mode. #For details, Please refer to the comments in SDK/include/libobsensor/Advanced.h for a detailed explanation.
depth_work_mode:""
# Configure the loading path of the deep filtering configuration file. By default, the deep filtering configuration file is located in the /config/depthfilter directory and is only supported by Gemini2.
depth_filter_config:""
# Auto exposure region of interest left. If -1, the default value will be used
depth_ae_roi:
depth_ae_roi_left:-1
# Auto exposure region of interest top. If -1, the default value will be used
depth_ae_roi_top:-1
# Auto exposure region of interest right. If -1, the default value will be used
depth_ae_roi_right:-1
# Auto exposure region of interest bottom. If -1, the default value will be used
depth_ae_roi_bottom:-1
laser:
# Whether to enable the laser. Default value is true
# Spatial filter diff threshold. If -1, the default threshold will be used
spatial_filter_diff_threshold:-1
# Spatial filter magnitude. If -1, the default magnitude will be used
spatial_filter_magnitude:-1
# Spatial filter radius. If -1, the default radius will be used
spatial_filter_radius:-1
# This filtering aims to improve the persistence of depth data by manipulating per-pixel values based on previous frames. The filtering performs a single processing on the data,
# adjusting depth values while updating tracking history.
temporal_filter:
# -enable_temporal_filter
enable_temporal_filter:false
# Temporal filter diff threshold. If -1, the default threshold will be used
# This filter fills all holes in the depth map using the specified mode.
hole_filling_filter:
# -enable_hole_filling_filter
enable_hole_filling_filter:false
# Hole filling filter mode. If empty, the default mode will be used
hole_filling_filter_mode:""
soft_filter:
# If false, the soft filter will not be enabled
enable_soft_filter:true
# The maximum difference between the current and previous depth frame to be considered valid
soft_filter_max_diff:-1
# The size of the speckle to be filtered out
soft_filter_speckle_size:-1
# This filtering is used in conjunction with the deep HDR function and only outputs sequences with the specified sequence ID.
sequence_filter:
# If true, the sequence ID filter will be enabled
enable_sequence_id_filter:false
# Sequence ID filter ID. If -1, the default ID will be used
sequence_id_filter_id:-1
# This filtering is used in conjunction with the deep HDR function. By merging consecutive depth images with alternating exposure values,
# we can simultaneously overcome the challenges of obtaining depth values for low-light and over-illuminated objects.
hdr_filter:
# If true, the HDR merge filter will be enabled
enable_hdr_merge:false
# HDR merge exposure1, If -1, the default value will be used
hdr_merge_exposure_1:-1
# HDR merge gain1, If -1, the default value will be used
hdr_merge_gain_1:-1
# HDR merge exposure2, If -1, the default value will be used
hdr_merge_exposure_2:-1
# HDR merge gain2, If -1, the default value will be used
hdr_merge_gain_2:-1
leftir:
# If false, the left IR image will not be enabled
enable_left_ir:false
# Quality of Service for the left IR image topic and the left IR camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
left_ir_qos:"default"
left_ir_camera_info_qos:"default"
# Width of the left IR image. If 0, the default width will be used
left_ir_width:0
# Height of the left IR image. If 0, the default height will be used
left_ir_height:0
# Fps of the left IR image. If 0, the default FPS will be used
left_ir_fps:0
# Format of the left IR image. Supported formats are 'Y8'
# If false, the right IR image will not be enabled
enable_right_ir:false
# Quality of Service for the right IR image topic and the right IR camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
right_ir_qos:"default"
right_ir_camera_info_qos:"default"
# Width of the right IR image. If 0, the default width will be used
right_ir_width:0
# Height of the right IR image. If 0, the default height will be used
right_ir_height:0
# Fps of the right IR image. If 0, the default FPS will be used
right_ir_fps:0
# Format of the right IR image. Supported formats are 'Y8'
# Quality of Service for the IR image topic and the IR camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
ir_qos:"default"
ir_camera_info_qos:"default"
# Width of the IR image. If 0, the default width will be used
ir_width:0
# Height of the IR image. If 0, the default height will be used
ir_height:0
# Fps of the IR image. If 0, the default FPS will be used
ir_fps:0
# Format of the IR image. Supported formats are 'Y8'
ir_format:"Y8"
ir_parameters:
# If false, the IR image auto exposure will not be enabled
# Exposure time of the IR image. If -1, auto exposure will be used
ir_exposure:-1
# Gain of the IR image. If -1, auto gain will be used
ir_gain:-1
# ir_brightness, if -1, auto brightness will be used
ir_brightness:-1
# If true, the left IR image will be flipped horizontally
flip_ir:false
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel:false
# The frequency of the accelerometer can be selected as 1.5625Hz, 3.125Hz, 6.25Hz, 12.5Hz, 25Hz, 50Hz, 100Hz, 200Hz, 500Hz, 1kHz, 2kHz, 4kHz, 8kHz, 16kHz, 32kHz.
# The specific value depends on the current camera.
accel_rate:"200hz"
# The range of the accelerometer, the optional values are 2g, 4g, 8g, 16g. The specific value depends on the current camera.
accel_range:"4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro:false
# The frequency of the gyroscope can be selected as 1.5625hz, 3.125hz, 6.25hz, 12.5hz, 25hz, 50hz, 100hz, 200hz, 500hz, 1kHz, 2kHz, 4kHz, 8kHz, 16kHz, 32kHz.
# The specific value depends on the current camera.
gyro_rate:"200hz"
# The range of the gyroscope, the optional values are 16dps, 31dps, 62dps, 125dps, 250dps, 500dps, 1000dps, 2000dps. The specific value depends on the current camera.
# For details, Please refer to the OBMultiDeviceSyncMode-related comments in SDK/include/libobsensor/ObTypes.h for a detailed explanation of each mode.
