i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-03 19:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update OrbbecSDK_ROS2 to v2.3.0

Browse Source
This commit is contained in:
jj
2025-03-31 20:16:47 +08:00
parent 47db6bce36
commit 0de8fef9cc
219 changed files with 8224 additions and 3165 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
+804 -618
View File
File diff suppressed because it is too large Load Diff
orbbec_camera/config/astra2.yaml
+32 -57
View File
@@ -9,103 +9,78 @@ orbbec_ros:
config_file_path: "astra2.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 1
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
uvc_backend: "libuvc"
vendor_id: "0x2bc5"
product_id: ""
connection_delay: 100
time_domain: "global"
enable_heartbeat: false
enable_ldp: true
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_qos: "default"
color_camera_info_qos: "default"
color_width: 1280
# Height of the color image. If 0, the default height will be used
color_height: 720
# Fps of the color image. If 0, the default FPS will be used
color_fps: 30
color_format: "MJPG"
enable_color_auto_white_balance: true
color_white_balance: -1
color_auto_ae:
enable_color_auto_exposure: true
color_ae_max_exposure: -1
color_manual_ae:
color_exposure: -1
color_gain: -1
color_brightness: -1
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_qos: "default"
depth_camera_info_qos: "default"
depth_width: 800
# Height of the depth image. If 0, the default height will be used
depth_height: 600
# Fps of the depth image. If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "RLE"
# Depth registration mode.
depth_registration: false
# The alignment mode to be used.
align_mode: "HW"
ir:
# If false, the left IR image will not be enabled
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_qos: "default"
ir_camera_info_qos: "default"
ir_width: 800
# Height of the left IR image. If 0, the default height will be used
ir_height: 600
# Fps of the ir image. If 0, the default FPS will be used
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y8"
ir_parameters:
enable_ir_auto_exposure: true
ir_ae_max_exposure: -1
ir_exposure: -1
ir_gain: -1
ir_brightness: -1
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
enable_sync_output_accel_gyro: true
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
# If true, the point cloud will be enabled
enable_point_cloud: true
# enable color point cloud. {fase:disable, true:enable}
enable_colored_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: false
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/common.yaml
+1 -5
View File
@@ -3,7 +3,7 @@
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
# Camera model. support product models by referencing config/*.yaml
camera_model: "gemini330_series"
# The configuration file for yaml params.
config_file_path: "gemini330_series.yaml"
@@ -21,8 +21,6 @@ orbbec_ros:
device_num: 1
# Optional values: v4l2, libuvc
uvc_backend: "libuvc"
# Usually no need to change
vendor_id: "0x2bc5"
# Usually no need to change,will be read from the device
product_id: ""
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
@@ -368,8 +366,6 @@ orbbec_ros:
ir_info_url: ""
# URL of the color image info
color_info_url: ""
# If true, the 3D reconstruction mode will be enabled
enable_3d_reconstruction_mode: false
# Diagnostic period in seconds
diagnostic_period: 1.0
orbbec_camera/config/femto.yaml
+30 -74
View File
@@ -9,121 +9,77 @@ orbbec_ros:
config_file_path: "femto.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 1
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
# If true, the heartbeat will be enabled
time_domain: "global"
enable_heartbeat: false
# If true, the LDP will be enabled
enable_ldp: true
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
# Width of the color image. If 0, the default width will be used
color_qos: "default"
color_camera_info_qos: "default"
color_width: 640
# Height of the color image. If 0, the default height will be used
color_height: 480
# If 0, the default FPS will be used
color_fps: 30
# Format of the color image.
color_format: "MJPG"
enable_color_auto_white_balance: true
color_white_balance: -1
color_auto_ae:
enable_color_auto_exposure: true
color_ae_max_exposure: -1
color_manual_ae:
color_exposure: -1
color_gain: -1
color_brightness: -1
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_qos: "default"
depth_camera_info_qos: "default"
depth_width: 640
# Height of the depth image. If 0, the default height will be used
depth_height: 480
# fps of the depth image. If 0, the default FPS will be used
depth_height: 576
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# Depth registration enable
depth_registration: false
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "HW"
ir:
# If false, the left IR image will not be enabled
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_qos: "default"
ir_camera_info_qos: "default"
ir_width: 640
# Height of the left IR image. If 0, the default height will be used
ir_height: 480
# Fps of the left IR image. If 0, the default FPS will be used
ir_height: 576
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y16"
ir_parameters:
enable_ir_auto_exposure: true
ir_ae_max_exposure: -1
ir_exposure: -1
ir_gain: -1
ir_brightness: -1
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
# If true, the point cloud will be enabled
enable_point_cloud: true
# enable color point cloud. {fase:disable, true:enable}
enable_colored_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: false
# If true, Overlay display of color image and depth image after D2C processing will be enabled
enable_frame_sync: true
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: false
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/femto_bolt.yaml
+85
View File
@@ -0,0 +1,85 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "femto_bolt"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "femto_bolt.yaml"
deivce:
camera_name: "camera"
serial_number: ""
usb_port: ""
device_num: 1
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
time_domain: "global"
enable_heartbeat: false
enable_ldp: true
color:
enable_color: true
color_qos: "default"
color_camera_info_qos: "default"
color_width: 1280
color_height: 720
color_fps: 30
color_format: "MJPG"
enable_color_auto_white_balance: true
color_white_balance: -1
color_auto_ae:
enable_color_auto_exposure: true
color_ae_max_exposure: -1
color_manual_ae:
color_exposure: -1
color_gain: -1
color_brightness: -1
depth:
enable_depth: true
depth_qos: "default"
depth_camera_info_qos: "default"
depth_width: 640
depth_height: 576
depth_fps: 30
depth_format: "Y16"
depth_registration: false
align_mode: "SW"
ir:
enable_ir: true
ir_qos: "default"
ir_camera_info_qos: "default"
ir_width: 640
ir_height: 576
ir_fps: 30
ir_format: "Y16"
ir_parameters:
enable_ir_auto_exposure: true
ir_ae_max_exposure: -1
ir_exposure: -1
ir_gain: -1
ir_brightness: -1
imu:
enable_accel: false
accel_rate: "200hz"
accel_range: "4g"
enable_gyro: false
gyro_rate: "200hz"
gyro_range: "1000dps"
enable_sync_output_accel_gyro: true
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
enable_point_cloud: false
enable_colored_point_cloud: false
advanced:
enable_frame_sync: true
enable_d2c_viewer: false
orbbec_camera/config/femto_mega.yaml
+85
View File
@@ -0,0 +1,85 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "femto_mega"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "femto_mega.yaml"
deivce:
camera_name: "camera"
serial_number: ""
usb_port: ""
device_num: 1
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
time_domain: "global"
enable_heartbeat: false
enable_ldp: true
color:
enable_color: true
color_qos: "default"
color_camera_info_qos: "default"
color_width: 1280
color_height: 720
color_fps: 30
color_format: "MJPG"
enable_color_auto_white_balance: true
color_white_balance: -1
color_auto_ae:
enable_color_auto_exposure: true
color_ae_max_exposure: -1
color_manual_ae:
color_exposure: -1
color_gain: -1
color_brightness: -1
depth:
enable_depth: true
depth_qos: "default"
depth_camera_info_qos: "default"
depth_width: 640
depth_height: 576
depth_fps: 30
depth_format: "Y16"
depth_registration: false
align_mode: "HW"
ir:
enable_ir: true
ir_qos: "default"
ir_camera_info_qos: "default"
ir_width: 640
ir_height: 576
ir_fps: 30
ir_format: "Y16"
ir_parameters:
enable_ir_auto_exposure: true
ir_ae_max_exposure: -1
ir_exposure: -1
ir_gain: -1
ir_brightness: -1
imu:
enable_accel: false
accel_rate: "100hz"
accel_range: "4g"
enable_gyro: false
gyro_rate: "100hz"
gyro_range: "1000dps"
enable_sync_output_accel_gyro: true
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
enable_point_cloud: true
enable_colored_point_cloud: false
advanced:
enable_frame_sync: true
enable_d2c_viewer: false
orbbec_camera/config/femtobolt.yaml
-129
View File
@@ -1,129 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
#
# For Femto Mega and Femto Bolt devices, Configuration of depth NFOV and WFOV modes.
# NFOV and WFOV modes are achieved by configuring the resolution of Depth and IR in the startup file.
# In the startup file, depth_width, depth_height, ir_width, ir_height represent the resolution of depth and the resolution of IR, respectively.
# The frame rate and resolution of IR must be consistent with depth. The corresponding relationship between different modes and resolution is as follows:
# • NFOV unbinned: 640 x 576.
# • NFOV binned: 320 x 288.
# • WFOV unbinned: 1024 x 1024.
# • WFOV binned: 512 x 512.
#
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "femtobolt"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "femtobolt.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 1
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 100
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: 1280
# Height of the color image. If 0, the default height will be used
color_height: 720
# If 0, the default FPS will be used
color_fps: 30
# 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: 576
# If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# If false, the depth scale will not be enabled
enable_depth_scale: true
# Depth registration mode.
depth_registration: false
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "SW"
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:
# If false, the left IR image will not be enabled
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: 576
# If 0, the default FPS will be used
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y16"
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "200hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "200hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# If true, Overlay display of color image and depth image after D2C processing will be enabled
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: true
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/femtomega.yaml
-134
View File
@@ -1,134 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
#
# For Femto Mega and Femto Bolt devices, Configuration of depth NFOV and WFOV modes.
# NFOV and WFOV modes are achieved by configuring the resolution of Depth and IR in the startup file.
# In the startup file, depth_width, depth_height, ir_width, ir_height represent the resolution of depth and the resolution of IR, respectively.
# The frame rate and resolution of IR must be consistent with depth. The corresponding relationship between different modes and resolution is as follows:
# • NFOV unbinned: 640 x 576.
# • NFOV binned: 320 x 288.
# • WFOV unbinned: 1024 x 1024.
# • WFOV binned: 512 x 512.
#
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "femtomega"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "femtomega.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 1
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 100
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
# Width of the color image. If 0, the default width will be used
color_width: 1280
# Height of the color image. If 0, the default height will be used
color_height: 720
# If 0, the default FPS will be used
color_fps: 30
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: 576
# If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# If false, the depth scale will not be enabled
enable_depth_scale: true
# Depth registration mode.
depth_registration: false
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "HW"
ir:
# If false, the left IR image will not be enabled
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: 576
# If 0, the default FPS will be used
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y16"
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
point_cloud:
# If true, the point cloud will be enabled
enable_point_cloud: true
# enable color point cloud. {fase:disable, true:enable}
enable_colored_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: false
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/gemini2.yaml
+28 -90
View File
@@ -9,140 +9,78 @@ orbbec_ros:
config_file_path: "gemini2.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 1
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
# If true, the heartbeat will be enabled
time_domain: "global"
retry_on_usb3_detection_failure: false
enable_heartbeat: false
# If true, the LDP will be enabled
enable_ldp: true
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
# Width of the color image. If 0, the default width will be used
color_qos: "default"
color_camera_info_qos: "default"
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"
enable_color_auto_white_balance: true
color_white_balance: -1
color_auto_ae:
enable_color_auto_exposure: true
color_ae_max_exposure: -1
color_manual_ae:
color_exposure: -1
color_gain: -1
color_brightness: -1
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_qos: "default"
depth_camera_info_qos: "default"
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_qos: "default"
ir_camera_info_qos: "default"
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'
ir_format: "Y8"
ir_parameters:
enable_ir_auto_exposure: true
ir_ae_max_exposure: -1
ir_exposure: -1
ir_gain: -1
ir_brightness: -1
imu:
# If true, enable the IMU accelerometer data
enable_accel: false
# Rate of the accelerometer
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, enable the IMU gyroscope data
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
# If true, the depth point cloud will be enabled
enable_point_cloud: true
# enable color point cloud. {fase:disable, true:enable}
enable_colored_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# If true, Overlay display of color image and depth image after D2C processing will be enabled
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: true
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/gemini2L.yaml
+33 -68
View File
@@ -9,113 +9,78 @@ orbbec_ros:
config_file_path: "gemini2L.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 1
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
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: ""
time_domain: "global"
retry_on_usb3_detection_failure: false
enable_heartbeat: false
enable_ldp: true
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_qos: "default"
color_camera_info_qos: "default"
color_width: 1280
# Height of the color image. If 0, the default height will be used
color_height: 800
# fps of the color image. If 0, the default FPS will be used
color_fps: 30
# Format of the color image.
color_format: "MJPG"
enable_color_auto_white_balance: true
color_white_balance: -1
color_auto_ae:
enable_color_auto_exposure: true
color_ae_max_exposure: -1
color_manual_ae:
color_exposure: -1
color_gain: -1
color_brightness: -1
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_qos: "default"
depth_camera_info_qos: "default"
depth_width: 1280
# Height of the depth image. If 0, the default height will be used
depth_height: 800
# If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# If false, the depth scale will not be enabled
enable_depth_scale: true
# Depth registration mode.
depth_registration: false
# 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 true, the soft filter will be enabled
enable_soft_filter: true
# soft_filter_max_diff, If -1, the default value will be used
soft_filter_max_diff: -1
# soft_filter_speckle_size, If -1, the default value will be used
soft_filter_speckle_size: -1
noise_removal_filter:
# If true, the noise removal filter will be enabled
enable_noise_removal_filter: true
ir:
# enable the ir camera stream
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_qos: "default"
ir_camera_info_qos: "default"
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.
ir_format: "Y8"
ir_parameters:
enable_ir_auto_exposure: true
ir_ae_max_exposure: -1
ir_exposure: -1
ir_gain: -1
ir_brightness: -1
imu:
# If true, enable the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the accelerometer
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, enable the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
# If true, the depth point cloud will be enabled
enable_point_cloud: true
# enable color point cloud. {fase:disable, true:enable}
enable_colored_point_cloud: false
advanced:
# If false, the hardware time will not be used
use_hardware_time: true
enable_frame_sync: true
enable_d2c_viewer: false
orbbec_camera/config/gemini330Lg_series.yaml
+44 -108
View File
@@ -4,159 +4,95 @@ orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330Lg_series"
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330Lg_series.yaml"
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 1
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
uvc_backend: "libuvc"
product_id: ""
connection_delay: 10
# If true, the heartbeat will be enabled
time_domain: "global"
retry_on_usb3_detection_failure: false
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
# Predefined presets doc reference: docs/source/2_installation/package_description.md
# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
device_preset: "Default"
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_qos: "default"
color_camera_info_qos: "default"
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
# Format of the color image. note: GMSL device dont't support MJPG format. need modify to YUYV format
color_format: "YUYV"
# enable auto exposure for the color image
enable_color_auto_exposure: true
# enable auto white balance for the color image
color_format: "ANY"
enable_color_auto_white_balance: true
# If true, the color image will be undistorted
enable_color_undistortion: false
color_white_balance: -1
color_auto_ae:
enable_color_auto_exposure: true
color_ae_max_exposure: -1
color_manual_ae:
color_exposure: -1
color_gain: -1
color_brightness: -1
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_qos: "default"
depth_camera_info_qos: "default"
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: "Y16"
# 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_format: "ANY"
depth_registration: true
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "SW"
laser:
# If true, the laser data will be enabled
enable_laser: false
# Laser On/Off mode.
laser_on_off_mode: 0
filter:
# -enable_decimation_filter
enable_decimation_filter: false
# -enable_hdr_merge
enable_hdr_merge: false
# -enable_sequence_id_filter
enable_sequence_id_filter: false
# -enable_threshold_filter
enable_threshold_filter: false
# -enable_noise_removal_filter
enable_noise_removal_filter: true
# -enable_spatial_filter
enable_spatial_filter: false
# -enable_temporal_filter
enable_temporal_filter: false
# -enable_hole_filling_filter
enable_hole_filling_filter: false
# -noise_removal_filter_min_diff
noise_removal_filter_min_diff: 256
# -noise_removal_filter_max_size
noise_removal_filter_max_size: 80
# -enable_soft_filter
enable_soft_filter: true
enable_laser: true
leftir:
# the left IR image will not be enabled
enable_left_ir: true
enable_left_ir: false
left_ir_qos: "default"
left_ir_camera_info_qos: "default"
left_ir_width: 0
left_ir_height: 0
left_ir_fps: 0
left_ir_format: "ANY"
rightir:
# the right IR image will not be enabled
enable_right_ir: true
enable_right_ir: false
right_ir_camera_info_qos: "default"
right_ir_width: 0
right_ir_height: 0
right_ir_fps: 0
right_ir_format: "ANY"
ir_parameters:
enable_ir_auto_exposure: true
ir_ae_max_exposure: -1
ir_exposure: -1
ir_gain: -1
ir_brightness: -1
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.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
# enable color point cloud. {fase:disable, true:enable}
enable_point_cloud: true
enable_colored_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used, true:devicetime, false:systemtime
use_hardware_time: true
# the host time will be synchronized with the device time
enable_sync_host_time: true
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/gemini330_series.yaml
+1 -3
View File
@@ -14,13 +14,11 @@ orbbec_ros:
usb_port: ""
device_num: 1
uvc_backend: "libuvc"
vendor_id: "0x2bc5"
product_id: ""
connection_delay: 10
time_domain: "device"
time_domain: "global"
retry_on_usb3_detection_failure: false
enable_heartbeat: false
enable_hardware_reset: false
enable_ldp: true
device_preset: "Default"
orbbec_camera/config/multicamera.yaml
-22
View File
@@ -1,22 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
multi_camera_parameters:
launch_device_camera1:
config_file_path: "multicamera_test/gemini330_series_test1.yaml"
# default period 0.0; unit: second
period: 0.0
camera_name: "camera1"
usb_port: "2-2-4"
device_num: "2"
sync_mode: "standalone"
launch_device_camera2:
config_file_path: "multicamera_test/gemini330_series_test2.yaml"
# default period 0.0; unit: second
period: 3.0
camera_name: "camera2"
usb_port: "2-1-2"
device_num: "2"
sync_mode: "standalone"
orbbec_camera/config/multicamera_synced.yaml
-40
View File
@@ -1,40 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
multi_camera_parameters:
launch_device_camera1:
config_file_path: "multicamera_test/gemini330_series_sync_front_camera.yaml"
# default period 0.0; unit: second
period: 3.0
camera_name: "front_camera"
usb_port: "2-5"
device_num: "3"
sync_mode: "hardware_triggering"
launch_device_camera2:
config_file_path: "multicamera_test/gemini330_series_sync_left_camera.yaml"
# default period 0.0; unit: second
period: 0.0
camera_name: "left_camera"
usb_port: "2-1"
device_num: "3"
sync_mode: "hardware_triggering"
launch_device_camera3:
config_file_path: "multicamera_test/gemini330_series_sync_rear_camera.yaml"
# default period 0.0; unit: second
period: 0.0
camera_name: "rear_camera"
usb_port: "2-3"
device_num: "3"
sync_mode: "hardware_triggering"
launch_device_camera4:
config_file_path: "multicamera_test/gemini330_series_sync_right_camera.yaml"
# default period 0.0; unit: second
period: 0.0
camera_name: "right_camera"
usb_port: "2-7"
device_num: "3"
sync_mode: "hardware_triggering"
orbbec_camera/config/multicamera_test/gemini330_series_sync_front_camera.yaml
-161
View File
@@ -1,161 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "front_camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: "2-5"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 3
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# 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
# Predefined presets doc reference: docs/source/2_installation/package_description.md
# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
device_preset: "Default"
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: 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: "MJPG"
# enable auto exposure for the color image
enable_color_auto_exposure: true
# enable auto white balance for the color image
enable_color_auto_white_balance: true
# If true, the color image will be undistorted
enable_color_undistortion: false
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: 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: "Y16"
# 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: "SW"
laser:
# Whether to enable the laser. Default value is true
enable_laser: false
# Laser Switch Alternate Mode, 0: Off, 1: On-Off Alternate, 2: Off-On Alternate. Default value is 0.
laser_on_off_mode: 0
filter:
# -enable_decimation_filter
enable_decimation_filter: false
# -enable_hdr_merge
enable_hdr_merge: false
# -enable_sequence_id_filter
enable_sequence_id_filter: false
# -enable_threshold_filter
enable_threshold_filter: false
# -enable_noise_removal_filter
enable_noise_removal_filter: true
# -enable_spatial_filter
enable_spatial_filter: false
# -enable_temporal_filter
enable_temporal_filter: false
# -enable_hole_filling_filter
enable_hole_filling_filter: false
# -noise_removal_filter_min_diff
noise_removal_filter_min_diff: 256
# -noise_removal_filter_max_size
noise_removal_filter_max_size: 80
# -enable_soft_filter
enable_soft_filter: true
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used, true:devicetime, false:systemtime
use_hardware_time: true
# the host time will be synchronized with the device time
enable_sync_host_time: true
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# For details, Please refer to the OBMultiDeviceSyncMode-related comments in SDK/include/libobsensor/ObTypes.h for a detailed explanation of each mode.
sync_mode: "SECONDARY_SYNCED"
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml
-161
View File
@@ -1,161 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "left_camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: "2-1"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 3
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# 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
# Predefined presets doc reference: docs/source/2_installation/package_description.md
# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
device_preset: "Default"
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: 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: "MJPG"
# enable auto exposure for the color image
enable_color_auto_exposure: true
# enable auto white balance for the color image
enable_color_auto_white_balance: true
# If true, the color image will be undistorted
enable_color_undistortion: false
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: 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: "Y16"
# 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: "SW"
laser:
# Whether to enable the laser. Default value is true
enable_laser: false
# Laser Switch Alternate Mode, 0: Off, 1: On-Off Alternate, 2: Off-On Alternate. Default value is 0.
laser_on_off_mode: 0
filter:
# -enable_decimation_filter
enable_decimation_filter: false
# -enable_hdr_merge
enable_hdr_merge: false
# -enable_sequence_id_filter
enable_sequence_id_filter: false
# -enable_threshold_filter
enable_threshold_filter: false
# -enable_noise_removal_filter
enable_noise_removal_filter: true
# -enable_spatial_filter
enable_spatial_filter: false
# -enable_temporal_filter
enable_temporal_filter: false
# -enable_hole_filling_filter
enable_hole_filling_filter: false
# -noise_removal_filter_min_diff
noise_removal_filter_min_diff: 256
# -noise_removal_filter_max_size
noise_removal_filter_max_size: 80
# -enable_soft_filter
enable_soft_filter: true
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used, true:devicetime, false:systemtime
use_hardware_time: true
# the host time will be synchronized with the device time
enable_sync_host_time: true
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# For details, Please refer to the OBMultiDeviceSyncMode-related comments in SDK/include/libobsensor/ObTypes.h for a detailed explanation of each mode.
sync_mode: "SECONDARY_SYNCED"
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml
-161
View File
@@ -1,161 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "rear_camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: "2-3"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 3
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# 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
# Predefined presets doc reference: docs/source/2_installation/package_description.md
# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
device_preset: "Default"
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: 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: "MJPG"
# enable auto exposure for the color image
enable_color_auto_exposure: true
# enable auto white balance for the color image
enable_color_auto_white_balance: true
# If true, the color image will be undistorted
enable_color_undistortion: false
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: 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: "Y16"
# 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: "SW"
laser:
# Whether to enable the laser. Default value is true
enable_laser: false
# Laser Switch Alternate Mode, 0: Off, 1: On-Off Alternate, 2: Off-On Alternate. Default value is 0.
laser_on_off_mode: 0
filter:
# -enable_decimation_filter
enable_decimation_filter: false
# -enable_hdr_merge
enable_hdr_merge: false
# -enable_sequence_id_filter
enable_sequence_id_filter: false
# -enable_threshold_filter
enable_threshold_filter: false
# -enable_noise_removal_filter
enable_noise_removal_filter: true
# -enable_spatial_filter
enable_spatial_filter: false
# -enable_temporal_filter
enable_temporal_filter: false
# -enable_hole_filling_filter
enable_hole_filling_filter: false
# -noise_removal_filter_min_diff
noise_removal_filter_min_diff: 256
# -noise_removal_filter_max_size
noise_removal_filter_max_size: 80
# -enable_soft_filter
enable_soft_filter: true
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used, true:devicetime, false:systemtime
use_hardware_time: true
# the host time will be synchronized with the device time
enable_sync_host_time: true
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# For details, Please refer to the OBMultiDeviceSyncMode-related comments in SDK/include/libobsensor/ObTypes.h for a detailed explanation of each mode.
sync_mode: "SECONDARY_SYNCED"
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml
-161
View File
@@ -1,161 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "right_camera"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: "2-7"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 3
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# 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
# Predefined presets doc reference: docs/source/2_installation/package_description.md
# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
device_preset: "Default"
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: 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: "MJPG"
# enable auto exposure for the color image
enable_color_auto_exposure: true
# enable auto white balance for the color image
enable_color_auto_white_balance: true
# If true, the color image will be undistorted
enable_color_undistortion: false
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: 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: "Y16"
# 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: "SW"
laser:
# Whether to enable the laser. Default value is true
enable_laser: false
# Laser Switch Alternate Mode, 0: Off, 1: On-Off Alternate, 2: Off-On Alternate. Default value is 0.
laser_on_off_mode: 0
filter:
# -enable_decimation_filter
enable_decimation_filter: false
# -enable_hdr_merge
enable_hdr_merge: false
# -enable_sequence_id_filter
enable_sequence_id_filter: false
# -enable_threshold_filter
enable_threshold_filter: false
# -enable_noise_removal_filter
enable_noise_removal_filter: true
# -enable_spatial_filter
enable_spatial_filter: false
# -enable_temporal_filter
enable_temporal_filter: false
# -enable_hole_filling_filter
enable_hole_filling_filter: false
# -noise_removal_filter_min_diff
noise_removal_filter_min_diff: 256
# -noise_removal_filter_max_size
noise_removal_filter_max_size: 80
# -enable_soft_filter
enable_soft_filter: true
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used, true:devicetime, false:systemtime
use_hardware_time: true
# the host time will be synchronized with the device time
enable_sync_host_time: true
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# For details, Please refer to the OBMultiDeviceSyncMode-related comments in SDK/include/libobsensor/ObTypes.h for a detailed explanation of each mode.
sync_mode: "SECONDARY_SYNCED"
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/multicamera_test/gemini330_series_test1.yaml
-161
View File
@@ -1,161 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera_test1"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: "2-2-3"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 2
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# 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
# Predefined presets doc reference: docs/source/2_installation/package_description.md
# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
device_preset: "Default"
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: 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: "MJPG"
# enable auto exposure for the color image
enable_color_auto_exposure: true
# enable auto white balance for the color image
enable_color_auto_white_balance: true
# If true, the color image will be undistorted
enable_color_undistortion: false
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: 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: "Y16"
# 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: "SW"
laser:
# Whether to enable the laser. Default value is true
enable_laser: false
# Laser Switch Alternate Mode, 0: Off, 1: On-Off Alternate, 2: Off-On Alternate. Default value is 0.
laser_on_off_mode: 0
filter:
# -enable_decimation_filter
enable_decimation_filter: false
# -enable_hdr_merge
enable_hdr_merge: false
# -enable_sequence_id_filter
enable_sequence_id_filter: false
# -enable_threshold_filter
enable_threshold_filter: false
# -enable_noise_removal_filter
enable_noise_removal_filter: true
# -enable_spatial_filter
enable_spatial_filter: false
# -enable_temporal_filter
enable_temporal_filter: false
# -enable_hole_filling_filter
enable_hole_filling_filter: false
# -noise_removal_filter_min_diff
noise_removal_filter_min_diff: 256
# -noise_removal_filter_max_size
noise_removal_filter_max_size: 80
# -enable_soft_filter
enable_soft_filter: true
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used, true:devicetime, false:systemtime
use_hardware_time: true
# the host time will be synchronized with the device time
enable_sync_host_time: true
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/multicamera_test/gemini330_series_test2.yaml
-161
View File
@@ -1,161 +0,0 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera_test2"
# camera serial number, usually overwritten by launch file
serial_number: ""
# The USB port of the camera. This parameter is required when using multiple cameras.
usb_port: "2-1-12"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 2
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# 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
# Predefined presets doc reference: docs/source/2_installation/package_description.md
# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
device_preset: "Default"
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: 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: "MJPG"
# enable auto exposure for the color image
enable_color_auto_exposure: true
# enable auto white balance for the color image
enable_color_auto_white_balance: true
# If true, the color image will be undistorted
enable_color_undistortion: false
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: 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: "Y16"
# 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: "SW"
laser:
# Whether to enable the laser. Default value is true
enable_laser: false
# Laser Switch Alternate Mode, 0: Off, 1: On-Off Alternate, 2: Off-On Alternate. Default value is 0.
laser_on_off_mode: 0
filter:
# -enable_decimation_filter
enable_decimation_filter: false
# -enable_hdr_merge
enable_hdr_merge: false
# -enable_sequence_id_filter
enable_sequence_id_filter: false
# -enable_threshold_filter
enable_threshold_filter: false
# -enable_noise_removal_filter
enable_noise_removal_filter: true
# -enable_spatial_filter
enable_spatial_filter: false
# -enable_temporal_filter
enable_temporal_filter: false
# -enable_hole_filling_filter
enable_hole_filling_filter: false
# -noise_removal_filter_min_diff
noise_removal_filter_min_diff: 256
# -noise_removal_filter_max_size
noise_removal_filter_max_size: 80
# -enable_soft_filter
enable_soft_filter: true
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
advanced:
# If true, the extrinsics publish will be enabled
enable_publish_extrinsic: false
# If true, the frame synchronization will be enabled
enable_frame_sync: true
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used, true:devicetime, false:systemtime
use_hardware_time: true
# the host time will be synchronized with the device time
enable_sync_host_time: true
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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.
frames_per_trigger: 2
# software trigger period in ms
software_trigger_period: 33
orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json
+14
View File
@@ -0,0 +1,14 @@
{
"start_benchmark_params": {
"camera_name": [
"camera_01",
"camera_02",
"camera_03",
"camera_04"
],
"process_name": "component_conta",
"switch_cycle": 60,
"test_cycle": 1,
"skip_number": 30
}
}