change color resoution to 640*360 30fps

orbbec_camera/config/camera_params.yaml

@@ -1,6 +1,6 @@
 # common params
 depth_registration: false
-enable_point_cloud: true
+enable_point_cloud: false
 enable_colored_point_cloud: false
 device_preset: "High Accuracy"
 laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
@@ -19,16 +19,16 @@ enable_3d_reconstruction_mode: false
 enable_color: true
 color_width: 640
 color_height: 360
-color_fps: 60
-color_format: "YUYV"
+color_fps: 30
+color_format: "MJPG"
 enable_color_auto_exposure: false
 color_exposure: 50 # 5ms
 color_gain: -1 # -1 default
 color_qos: "sensor_data"
 
 # depth params
-depth_width: 640
-depth_height: 360
+depth_width: 848
+depth_height: 480
 depth_fps: 60
 depth_format: "Y16"
 depth_qos: "sensor_data"
@@ -40,16 +40,16 @@ ir_gain: -1
 
 #left ir params
 enable_left_ir: true
-left_ir_width: 640
-left_ir_height: 360
+left_ir_width: 848
+left_ir_height: 480
 left_ir_fps: 60
 left_ir_format: "Y8"
 left_ir_qos: "sensor_data"
 
 #right ir params
 enable_right_ir: true
-right_ir_width: 640
-right_ir_height: 360
+right_ir_width: 848
+right_ir_height: 480
 right_ir_fps: 60
 right_ir_format: "Y8"
 right_ir_qos: "sensor_data"