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[yaml]Update camera yaml parameter configuration file

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jj
2024-12-30 14:06:18 +08:00
parent 8abe42dd7b
commit 175c6ac97d
28 changed files with 879 additions and 1403 deletions
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orbbec_camera/config/astra2.yaml
+32 -57
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@@ -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 -3
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@@ -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.
orbbec_camera/config/femto.yaml
+30 -74
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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
+1 -1
View File
@@ -15,7 +15,7 @@ orbbec_ros:
launch_device_camera2:
config_file_path: "multicamera_test/gemini330_series_test2.yaml"
# default period 0.0; unit: second
period: 3.0
period: 2.0
camera_name: "camera2"
usb_port: "2-1-2"
device_num: "2"
orbbec_camera/config/multicamera_synced.yaml
+14 -11
View File
@@ -6,11 +6,11 @@ orbbec_ros:
launch_device_camera1:
config_file_path: "multicamera_test/gemini330_series_sync_front_camera.yaml"
# default period 0.0; unit: second
period: 3.0
period: 6.0
camera_name: "front_camera"
usb_port: "2-5"
device_num: "3"
sync_mode: "hardware_triggering"
device_num: "4"
sync_mode: "primary"
launch_device_camera2:
config_file_path: "multicamera_test/gemini330_series_sync_left_camera.yaml"
@@ -18,23 +18,26 @@ orbbec_ros:
period: 0.0
camera_name: "left_camera"
usb_port: "2-1"
device_num: "3"
sync_mode: "hardware_triggering"
device_num: "4"
sync_mode: "secondary_synced"
trigger_out_enabled: false
launch_device_camera3:
config_file_path: "multicamera_test/gemini330_series_sync_rear_camera.yaml"
# default period 0.0; unit: second
period: 0.0
period: 2.0
camera_name: "rear_camera"
usb_port: "2-3"
device_num: "3"
sync_mode: "hardware_triggering"
device_num: "4"
sync_mode: "secondary_synced"
trigger_out_enabled: false
launch_device_camera4:
config_file_path: "multicamera_test/gemini330_series_sync_right_camera.yaml"
# default period 0.0; unit: second
period: 0.0
period: 4.0
camera_name: "right_camera"
usb_port: "2-7"
device_num: "3"
sync_mode: "hardware_triggering"
device_num: "4"
sync_mode: "secondary_synced"
trigger_out_enabled: false
orbbec_camera/config/multicamera_test/gemini330_series_sync_front_camera.yaml
+82 -102
View File
@@ -9,153 +9,133 @@ orbbec_ros:
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
camera_name: "camera"
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
usb_port: "2-1"
device_num: 4
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
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
# 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
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:
# 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
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_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: "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
sync_mode: "standalone"
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
interleave_ae_mode:
interleave_ae_mode: "laser"
interleave_frame_enable: false
interleave_skip:
interleave_skip_enable: false
interleave_skip_index: 1
interleave_hdr_param:
hdr_index1_laser_control: 1
hdr_index1_depth_exposure: 1
hdr_index1_depth_gain: 16
hdr_index1_ir_brightness: 20
hdr_index1_ir_ae_max_exposure: 2000
hdr_index0_laser_control: 1
hdr_index0_depth_exposure: 7500
hdr_index0_depth_gain: 16
hdr_index0_ir_brightness: 60
hdr_index0_ir_ae_max_exposure: 10000
interleave_laser_param:
laser_index1_laser_control: 0
laser_index1_depth_exposure: 3000
laser_index1_depth_gain: 16
laser_index1_ir_brightness: 60
laser_index1_ir_ae_max_exposure: 17000
laser_index0_laser_control: 1
laser_index0_depth_exposure: 3000
laser_index0_depth_gain: 16
laser_index0_ir_brightness: 60
laser_index0_ir_ae_max_exposure: 30000
orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml
+82 -102
View File
@@ -9,153 +9,133 @@ orbbec_ros:
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
camera_name: "camera"
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
usb_port: "2-2"
device_num: 4
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
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
# 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
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:
# 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
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_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: "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
sync_mode: "standalone"
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
interleave_ae_mode:
interleave_ae_mode: "laser"
interleave_frame_enable: false
interleave_skip:
interleave_skip_enable: false
interleave_skip_index: 1
interleave_hdr_param:
hdr_index1_laser_control: 1
hdr_index1_depth_exposure: 1
hdr_index1_depth_gain: 16
hdr_index1_ir_brightness: 20
hdr_index1_ir_ae_max_exposure: 2000
hdr_index0_laser_control: 1
hdr_index0_depth_exposure: 7500
hdr_index0_depth_gain: 16
hdr_index0_ir_brightness: 60
hdr_index0_ir_ae_max_exposure: 10000
interleave_laser_param:
laser_index1_laser_control: 0
laser_index1_depth_exposure: 3000
laser_index1_depth_gain: 16
laser_index1_ir_brightness: 60
laser_index1_ir_ae_max_exposure: 17000
laser_index0_laser_control: 1
laser_index0_depth_exposure: 3000
laser_index0_depth_gain: 16
laser_index0_ir_brightness: 60
laser_index0_ir_ae_max_exposure: 30000
orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml
+81 -101
View File
@@ -9,153 +9,133 @@ orbbec_ros:
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
camera_name: "camera"
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
device_num: 4
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
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
# 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
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:
# 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
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_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: "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
sync_mode: "standalone"
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
interleave_ae_mode:
interleave_ae_mode: "laser"
interleave_frame_enable: false
interleave_skip:
interleave_skip_enable: false
interleave_skip_index: 1
interleave_hdr_param:
hdr_index1_laser_control: 1
hdr_index1_depth_exposure: 1
hdr_index1_depth_gain: 16
hdr_index1_ir_brightness: 20
hdr_index1_ir_ae_max_exposure: 2000
hdr_index0_laser_control: 1
hdr_index0_depth_exposure: 7500
hdr_index0_depth_gain: 16
hdr_index0_ir_brightness: 60
hdr_index0_ir_ae_max_exposure: 10000
interleave_laser_param:
laser_index1_laser_control: 0
laser_index1_depth_exposure: 3000
laser_index1_depth_gain: 16
laser_index1_ir_brightness: 60
laser_index1_ir_ae_max_exposure: 17000
laser_index0_laser_control: 1
laser_index0_depth_exposure: 3000
laser_index0_depth_gain: 16
laser_index0_ir_brightness: 60
laser_index0_ir_ae_max_exposure: 30000
orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml
+82 -102
View File
@@ -9,153 +9,133 @@ orbbec_ros:
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
camera_name: "camera"
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
usb_port: "2-4"
device_num: 4
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
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
# 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
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:
# 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
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_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: "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
sync_mode: "standalone"
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
interleave_ae_mode:
interleave_ae_mode: "laser"
interleave_frame_enable: false
interleave_skip:
interleave_skip_enable: false
interleave_skip_index: 1
interleave_hdr_param:
hdr_index1_laser_control: 1
hdr_index1_depth_exposure: 1
hdr_index1_depth_gain: 16
hdr_index1_ir_brightness: 20
hdr_index1_ir_ae_max_exposure: 2000
hdr_index0_laser_control: 1
hdr_index0_depth_exposure: 7500
hdr_index0_depth_gain: 16
hdr_index0_ir_brightness: 60
hdr_index0_ir_ae_max_exposure: 10000
interleave_laser_param:
laser_index1_laser_control: 0
laser_index1_depth_exposure: 3000
laser_index1_depth_gain: 16
laser_index1_ir_brightness: 60
laser_index1_ir_ae_max_exposure: 17000
laser_index0_laser_control: 1
laser_index0_depth_exposure: 3000
laser_index0_depth_gain: 16
laser_index0_ir_brightness: 60
laser_index0_ir_ae_max_exposure: 30000
orbbec_camera/config/multicamera_test/gemini330_series_test1.yaml
+81 -101
View File
@@ -9,153 +9,133 @@ orbbec_ros:
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
camera_name: "camera"
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
usb_port: "2-1"
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
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
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
# 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
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:
# 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
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_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
sync_mode: "standalone"
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
interleave_ae_mode:
interleave_ae_mode: "laser"
interleave_frame_enable: false
interleave_skip:
interleave_skip_enable: false
interleave_skip_index: 1
interleave_hdr_param:
hdr_index1_laser_control: 1
hdr_index1_depth_exposure: 1
hdr_index1_depth_gain: 16
hdr_index1_ir_brightness: 20
hdr_index1_ir_ae_max_exposure: 2000
hdr_index0_laser_control: 1
hdr_index0_depth_exposure: 7500
hdr_index0_depth_gain: 16
hdr_index0_ir_brightness: 60
hdr_index0_ir_ae_max_exposure: 10000
interleave_laser_param:
laser_index1_laser_control: 0
laser_index1_depth_exposure: 3000
laser_index1_depth_gain: 16
laser_index1_ir_brightness: 60
laser_index1_ir_ae_max_exposure: 17000
laser_index0_laser_control: 1
laser_index0_depth_exposure: 3000
laser_index0_depth_gain: 16
laser_index0_ir_brightness: 60
laser_index0_ir_ae_max_exposure: 30000
orbbec_camera/config/multicamera_test/gemini330_series_test2.yaml
+81 -101
View File
@@ -9,153 +9,133 @@ orbbec_ros:
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
camera_name: "camera"
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
usb_port: "2-2"
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
uvc_backend: "libuvc"
product_id: ""
connection_delay: 100
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
# 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
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:
# 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
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_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
sync_mode: "standalone"
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
interleave_ae_mode:
interleave_ae_mode: "laser"
interleave_frame_enable: false
interleave_skip:
interleave_skip_enable: false
interleave_skip_index: 1
interleave_hdr_param:
hdr_index1_laser_control: 1
hdr_index1_depth_exposure: 1
hdr_index1_depth_gain: 16
hdr_index1_ir_brightness: 20
hdr_index1_ir_ae_max_exposure: 2000
hdr_index0_laser_control: 1
hdr_index0_depth_exposure: 7500
hdr_index0_depth_gain: 16
hdr_index0_ir_brightness: 60
hdr_index0_ir_ae_max_exposure: 10000
interleave_laser_param:
laser_index1_laser_control: 0
laser_index1_depth_exposure: 3000
laser_index1_depth_gain: 16
laser_index1_ir_brightness: 60
laser_index1_ir_ae_max_exposure: 17000
laser_index0_laser_control: 1
laser_index0_depth_exposure: 3000
laser_index0_depth_gain: 16
laser_index0_ir_brightness: 60
laser_index0_ir_ae_max_exposure: 30000
orbbec_camera/launch/astra2.launch.py
+8 -2
View File
@@ -17,7 +17,7 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
@@ -33,8 +33,10 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='800'),
@@ -54,8 +56,11 @@ def generate_launch_description():
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
@@ -70,6 +75,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_info_url', default_value=''),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
@@ -80,7 +86,7 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
DeclareLaunchArgument('time_domain', default_value='global'),
]
# Node configuration
orbbec_camera/launch/femto.launch.py
+2 -1
View File
@@ -17,7 +17,6 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
@@ -35,7 +34,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='480'),
orbbec_camera/launch/femto_bolt.launch.py
+6 -2
View File
@@ -17,7 +17,7 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
@@ -33,8 +33,10 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='640'),
@@ -54,8 +56,10 @@ def generate_launch_description():
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='200hz'),
@@ -88,7 +92,7 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='SW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
DeclareLaunchArgument('time_domain', default_value='global'),
]
# Node configuration
orbbec_camera/launch/femto_mega.launch.py
+6 -2
View File
@@ -17,7 +17,7 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
@@ -33,8 +33,10 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='640'),
@@ -54,8 +56,10 @@ def generate_launch_description():
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
@@ -94,7 +98,7 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
DeclareLaunchArgument('time_domain', default_value='global'),
]
# Node configuration
orbbec_camera/launch/gemini2.launch.py
+6 -2
View File
@@ -17,7 +17,7 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
@@ -33,10 +33,12 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='15'),
@@ -54,8 +56,10 @@ def generate_launch_description():
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
@@ -94,7 +98,7 @@ def generate_launch_description():
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
DeclareLaunchArgument('time_domain', default_value='global'),
]
# Node configuration
orbbec_camera/launch/gemini2L.launch.py
+6 -2
View File
@@ -17,7 +17,7 @@ def generate_launch_description():
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
@@ -33,10 +33,12 @@ def generate_launch_description():
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='1280'),
DeclareLaunchArgument('depth_height', default_value='800'),
DeclareLaunchArgument('depth_fps', default_value='30'),
@@ -54,8 +56,10 @@ def generate_launch_description():
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
@@ -95,7 +99,7 @@ def generate_launch_description():
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
DeclareLaunchArgument('time_domain', default_value='global'),
]
# Node configuration
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
View File
@@ -168,7 +168,7 @@ def generate_launch_description():
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_domain', default_value='global'),
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/multi_camera_synced.launch.py
+1
View File
@@ -36,6 +36,7 @@ def generate_launch_description():
"device_num": "2",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
"trigger_out_enabled": "false"
}.items(),
)
orbbec_camera/launch/ob_camera.launch.py
-104
View File
@@ -1,104 +0,0 @@
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import PushRosNamespace
from launch.actions import GroupAction
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', default_value='false'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y14'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='30'),
DeclareLaunchArgument('ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_ir', default_value='true'),
DeclareLaunchArgument('flip_ir', default_value='false'),
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('gyro_rate', default_value='100hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('time_domain', default_value='device'),
]
# Node configuration
parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
# Define the ComposableNode
compose_node = ComposableNode(
package='orbbec_camera',
plugin='orbbec_camera::OBCameraNodeDriver',
name=LaunchConfiguration('camera_name'),
namespace='',
parameters=parameters,
)
# Define the ComposableNodeContainer
container = ComposableNodeContainer(
name='camera_container',
namespace='',
package='rclcpp_components',
executable='component_container',
composable_node_descriptions=[
compose_node,
],
output='screen',
)
# Launch description
ld = LaunchDescription(
args +
[
GroupAction([
PushRosNamespace(LaunchConfiguration('camera_name')),
container
])
]
)
return ld