OrbbecSDK_ROS2/orbbec_camera/config/camera_params.yaml

# common params
depth_registration: false
enable_point_cloud: false
enable_colored_point_cloud: false
device_preset: "High Accuracy"
laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
time_domain: "global" # global, device, system
enable_sync_host_time: true
frames_per_trigger: 1
log_level: "warning"
enable_laser: false

# When 3D reconstruction mode is enabled:
# - The laser will switch to on-off mode
# - IR images without the laser will be used for SLAM localization
# - Depth images with the laser will be used because they provide better depth quality
enable_3d_reconstruction_mode: false

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

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

# ir exposure
enable_ir_auto_exposure: true
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"

#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"