Update multi camera synced

orbbec_camera/config/camera_secondary_params.yaml

@@ -0,0 +1,58 @@
+# common params
+depth_registration: false
+enable_d2c_viewer: false
+enable_point_cloud: false
+enable_colored_point_cloud: false
+enable_ldp: false
+device_preset: "Default"
+enable_laser: true
+
+# enable_laser: true
+interleave_ae_mode: "laser"
+interleave_frame_enable: false
+interleave_skip_enable: false
+interleave_skip_index: 1
+time_domain: "global" # global, device, system
+enable_sync_host_time: true
+
+trigger_out_enabled: false
+frames_per_trigger: 0
+software_trigger_period: 0
+
+
+# color params
+enable_color: true
+color_width: 0
+color_height: 0
+color_fps: 0
+color_format: "MJPG"
+enable_color_auto_exposure: true
+color_exposure: 30 # 3ms
+color_gain: 16 # -1 default
+
+# depth params
+enable_depth: false
+depth_width: 0
+depth_height: 0
+depth_fps: 0
+depth_format: "Y16"
+
+
+#left ir params
+enable_left_ir: true
+left_ir_width: 0
+left_ir_height: 0
+left_ir_fps: 0
+left_ir_format: "Y8"
+enable_ir_auto_exposure: true
+ir_exposure: 3000 # 3ms
+ir_gain: 16 # -1 default
+
+#right ir params
+enable_right_ir: false
+right_ir_width: 0
+right_ir_height: 0
+right_ir_fps: 0
+right_ir_format: "Y8"
+
+

orbbec_camera/examples/multi_camera_synced_verification_tool/multi_camera_synced_verify.launch.py

@@ -48,6 +48,7 @@ def generate_launch_description():
     )
     config_file_dir = os.path.join(package_dir, "config")
     config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
 
     attach_to_shared_component_container_arg = LaunchConfiguration(
         "attach_to_shared_component_container", default=False
@@ -103,7 +104,7 @@ def generate_launch_description():
             "usb_port": "2-3",
             "device_num": "2",
             "sync_mode": "secondary_synced",
-            "config_file_path": config_file_path,
+            "config_file_path": secondary_config_file_path,
             "trigger_out_enabled": "false",
             "attach_to_shared_component_container": attach_to_shared_component_container_arg,
             "component_container_name": component_container_name_arg,

orbbec_camera/launch/multi_camera_synced.launch.py

@@ -12,6 +12,7 @@ def generate_launch_description():
     launch_file_dir = os.path.join(package_dir, "launch")
     config_file_dir = os.path.join(package_dir, "config")
     config_file_path = os.path.join(config_file_dir, "camera_params.yaml")
+    secondary_config_file_path = os.path.join(config_file_dir, "camera_secondary_params.yaml")
 
     launch1_include = IncludeLaunchDescription(
         PythonLaunchDescriptionSource(
@@ -36,7 +37,7 @@ def generate_launch_description():
             "usb_port": "2-3",
             "device_num": "2",
             "sync_mode": "secondary_synced",
-            "config_file_path": config_file_path,
+            "config_file_path": secondary_config_file_path,
             "trigger_out_enabled": "false"
         }.items(),
     )