From 78dbcec6cd682da2198433045603ece0b7c7bff4 Mon Sep 17 00:00:00 2001
From: datean <datean@orbbec.com>
Date: Mon, 24 Mar 2025 21:55:35 +0800
Subject: [PATCH] Add camera_secondary_params.yaml

---
 .../config/camera_secondary_params.yaml       | 59 +++++++++++++++++++
 .../launch/multi_camera_synced.launch.py      |  7 ++-
 2 files changed, 63 insertions(+), 3 deletions(-)
 create mode 100644 orbbec_camera/config/camera_secondary_params.yaml

diff --git a/orbbec_camera/config/camera_secondary_params.yaml b/orbbec_camera/config/camera_secondary_params.yaml
new file mode 100644
index 00000000..d2d6b338
--- /dev/null
+++ b/orbbec_camera/config/camera_secondary_params.yaml
@@ -0,0 +1,59 @@
+# common params
+depth_registration: false
+enable_point_cloud: true
+enable_colored_point_cloud: false
+device_preset: "High Accuracy"
+time_domain: "global" # global, device, system
+enable_sync_host_time: true
+frames_per_trigger: 1
+log_level: "warning"
+enable_laser: false
+trigger_out_enabled: false
+
+interleave_frame_enable: false
+interleave_skip_enable: false
+
+# color params
+enable_color: true
+color_width: 640
+color_height: 360
+color_fps: 60
+color_format: "MJPG"
+enable_color_auto_exposure: true
+color_exposure: 50 # 5ms
+color_gain: -1 # -1 default
+color_qos: "sensor_data"
+color_camera_info_qos: "sensor_data"
+
+# depth params
+enable_depth: true
+depth_width: 640
+depth_height: 360
+depth_fps: 60
+depth_format: "Y16"
+depth_qos: "sensor_data"
+depth_camera_info_qos: "sensor_data"
+
+# ir exposure
+enable_ir_auto_exposure: true
+ir_exposure: 5000
+ir_gain: 40
+
+#left ir params
+enable_left_ir: true
+left_ir_width: 640
+left_ir_height: 360
+left_ir_fps: 60
+left_ir_format: "Y8"
+left_ir_qos: "sensor_data"
+left_ir_camera_info_qos: "sensor_data"
+
+#right ir params
+enable_right_ir: true
+right_ir_width: 640
+right_ir_height: 360
+right_ir_fps: 60
+right_ir_format: "Y8"
+right_ir_qos: "sensor_data"
+right_ir_camera_info_qos: "sensor_data"
+
diff --git a/orbbec_camera/launch/multi_camera_synced.launch.py b/orbbec_camera/launch/multi_camera_synced.launch.py
index 55723160..e8184623 100644
--- a/orbbec_camera/launch/multi_camera_synced.launch.py
+++ b/orbbec_camera/launch/multi_camera_synced.launch.py
@@ -15,6 +15,7 @@ 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")
 
     use_intra_process_comms_declare = DeclareLaunchArgument(
         'use_intra_process_comms', default_value='false',
@@ -68,7 +69,7 @@ def generate_launch_description():
             # "usb_port": "gmsl2-3",
             "device_num": "4",
             "sync_mode": "secondary_synced",
-            "config_file_path": config_file_path,
+            "config_file_path": secondary_config_file_path,
             'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
             'attach_to_shared_component_container': attach_to_shared_component_container_arg,
             'component_container_name': component_container_name_arg,
@@ -84,7 +85,7 @@ def generate_launch_description():
             # "usb_port": "gmsl2-1",
             "device_num": "4",
             "sync_mode": "secondary_synced",
-            "config_file_path": config_file_path,
+            "config_file_path": secondary_config_file_path,
             'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
             'attach_to_shared_component_container': attach_to_shared_component_container_arg,
             'component_container_name': component_container_name_arg,
@@ -100,7 +101,7 @@ def generate_launch_description():
             # "usb_port": "gmsl2-7",
             "device_num": "4",
             "sync_mode": "secondary_synced",
-            "config_file_path": config_file_path,
+            "config_file_path": secondary_config_file_path,
             'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
             'attach_to_shared_component_container': attach_to_shared_component_container_arg,
             'component_container_name': component_container_name_arg,