# 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
# 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
# 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
color_fps:0
# default Format of the color image.
color_format:"ANY"
# If true, the color image will be flipped horizontally
# 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
depth_fps:0
# default Format of the depth image.
depth_format:"ANY"
# If true, the depth image will be flipped horizontally
depth_flip: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.
# 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.
# 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
temporal_filter_diff_threshold:-1.0
# Temporal filter weight. If -1, the default weight will be used
# 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'
# 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.
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.
