[yaml]Update camera yaml parameter configuration file

2026-10-04 03:57:46 +08:00 · 2024-12-30 14:06:18 +08:00
parent 8abe42dd7b
commit 175c6ac97d
28 changed files with 879 additions and 1403 deletions
@@ -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
+