# 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
# Width of the color image. If 0, the default width will be used
color_width:640
# Height of the color image. If 0, the default height will be used
color_height:360
# If 0, the default FPS will be used
color_fps:15
# Format of the color image.
color_format:"MJPG"
depth:
# If true, the depth image will be enabled
enable_depth:true
# Width of the depth image. If 0, the default width will be used
depth_width:640
# Height of the depth image. If 0, the default height will be used
depth_height:400
# If 0, the default FPS will be used
depth_fps:15
# Format of the depth image.
depth_format:"Y14"
# If false, the depth scale will not be enabled
enable_depth_scale:true
# 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:"HW"
# 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:""
filter:
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
ir:
# enable the ir camera stream
enable_ir:true
# Width of the left IR image. If 0, the default width will be used
ir_width:640
# Height of the left IR image. If 0, the default height will be used
ir_height:400
# If 0, the default FPS will be used
ir_fps:15
# Format of the left IR image. Supported formats are 'Y8'
# For details, Please refer to the OBMultiDeviceSyncMode-related comments in SDK/include/libobsensor/ObTypes.h for a detailed explanation of each mode.
sync_mode:"STANDALONE"
# The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
# For details, Please refer to the OBMultiDeviceSyncConfig-related comments in SDK/include/libobsensor/ObTypes.h
depth_delay_us:0
# The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.
color_delay_us:0
# The delay time of the image capture after receiving the capture command or trigger signal in microseconds.
trigger2image_delay_us:0
# Trigger signal output enable flag.
trigger_out_enabled:true
# The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds.
trigger_out_delay_us:0
# The frame number of each stream after each trigger in triggering mode.
