i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-03 19:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

[yaml]Update common.yaml and gemini330_series.yaml

Browse Source
This commit is contained in:
jj
2024-12-20 15:04:13 +08:00
parent e54649de0d
commit d40d9fe168
2 changed files with 61 additions and 166 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/config/common.yaml
+23 -22
View File
@@ -6,8 +6,7 @@ orbbec_ros:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# The configuration file for yaml params.
config_file_path: "gemini330_series.yaml" #Time domain.
time_domain: "device"
config_file_path: "gemini330_series.yaml"
# Log level. Supported levels are 'debug', 'info', 'warning' and 'error'. Default is 'none'.
log_level: "none"
@@ -20,12 +19,16 @@ orbbec_ros:
usb_port: ""
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
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.
connection_delay: 10
# Select timestamp type: "device" 、 “global” and "system"
time_domain: "device"
# If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. This setting is designed to prevent USB 3.0 devices from being mistakenly identified as USB 2.0.
# It is recommended to set this parameter to false when using a USB 2.0 connection to avoid unnecessary resets
retry_on_usb3_detection_failure: false
@@ -65,7 +68,7 @@ orbbec_ros:
# 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"
color_format: "ANY"
# If true, the color image will be flipped horizontally
flip_color: false
@@ -80,6 +83,8 @@ orbbec_ros:
color_auto_ae:
# enable auto exposure for the color image
enable_color_auto_exposure: true
# maximum exposure value for the color image. If -1, the default value will be used
color_ae_max_exposure: -1
# left edge of the auto exposure region of interest. If -1, the default value will be used
color_ae_roi_left: -1
# top edge of the auto exposure region of interest. If -1, the default value will be used
@@ -93,8 +98,6 @@ orbbec_ros:
color_manual_ae:
# exposure value for the color image. If -1, the default exposure will be used
color_exposure: -1
# maximum exposure value for the color image. If -1, the default value will be used
color_ae_max_exposure: -1
# gain value for the color image. If -1, the default gain will be used
color_gain: -1
# brightness value for the color image. If -1, the default brightness will be used
@@ -116,7 +119,7 @@ orbbec_ros:
# 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"
depth_format: "ANY"
# If true, the depth image will be flipped horizontally
flip_depth: false
# If false, the depth scale will not be enabled
@@ -151,9 +154,7 @@ orbbec_ros:
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
enable_laser: true
# Laser energy level. If -1, the default energy level will be used
laser_energy_level: -1
@@ -190,7 +191,7 @@ orbbec_ros:
# -enable_spatial_filter
enable_spatial_filter: false
# Spatial filter alpha. If -1, the default alpha will be used
spatial_filter_alpha: -1
spatial_filter_alpha: -1.0
# Spatial filter diff threshold. If -1, the default threshold will be used
spatial_filter_diff_threshold: -1
# Spatial filter magnitude. If -1, the default magnitude will be used
@@ -204,9 +205,9 @@ orbbec_ros:
# -enable_temporal_filter
enable_temporal_filter: false
# Temporal filter diff threshold. If -1, the default threshold will be used
temporal_filter_diff_threshold: -1
temporal_filter_diff_threshold: -1.0
# Temporal filter weight. If -1, the default weight will be used
temporal_filter_weight: -1
temporal_filter_weight: -1.0
# This filter fills all holes in the depth map using the specified mode.
hole_filling_filter:
@@ -260,7 +261,7 @@ orbbec_ros:
# Fps of the left IR image. If 0, the default FPS will be used
left_ir_fps: 0
# Format of the left IR image. Supported formats are 'Y8'
left_ir_format: "Y8"
left_ir_format: "ANY"
rightir:
# If false, the right IR image will not be enabled
@@ -278,7 +279,7 @@ orbbec_ros:
# Fps of the right IR image. If 0, the default FPS will be used
right_ir_fps: 0
# Format of the right IR image. Supported formats are 'Y8'
right_ir_format: "Y8"
right_ir_format: "ANY"
ir:
# If false, the left IR image will not be enabled
@@ -301,12 +302,12 @@ orbbec_ros:
ir_parameters:
# If false, the IR image auto exposure will not be enabled
enable_ir_auto_exposure: true
# Maximum exposure time of the IR image
ir_ae_max_exposure: -1
# Exposure time of the IR image. If -1, auto exposure will be used
ir_exposure: -1
# Gain of the IR image. If -1, auto gain will be used
ir_gain: -1
# Maximum exposure time of the IR image
ir_ae_max_exposure: 10000
# ir_brightness, if -1, auto brightness will be used
ir_brightness: -1
# If true, the left IR image will be flipped horizontally
@@ -336,7 +337,7 @@ orbbec_ros:
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
enable_point_cloud: true
# enable RGBD point cloud. {fase:disable, true:enable}
enable_colored_point_cloud: false
# Quality of Service for the point cloud topic
@@ -359,10 +360,10 @@ orbbec_ros:
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: false
# false: switch to software disparity convert to depth, true: switch to hardware disparity convert to depth
enable_hardware_d2d: true
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
enable_sync_host_time: true
# URL of the IR image info
ir_info_url: ""
# URL of the color image info
@@ -373,9 +374,9 @@ orbbec_ros:
diagnostic_period: 1.0
device_sync:
# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
# 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"
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
orbbec_camera/config/gemini330_series.yaml
+38 -144
View File
@@ -9,198 +9,92 @@ orbbec_ros:
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"
vendor_id: "0x2bc5"
product_id: ""
connection_delay: 10
# If true, the heartbeat will be enabled
time_domain: "device"
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: "ANY"
# enable auto exposure for the color image
enable_color_auto_exposure: true
# enable auto white balance for the color image
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: "ANY"
# 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: "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: 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: 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: 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
# global, device, system
time_domain: "device"
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# 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
gmsldevice_trigger:
enable_gmsl_trigger: false
gmsl_trigger_fps: 3000
# config for interleave mode。
# interleave_ae_mode is currently supported by the gemini330 series,
# and specific products can be checked for support of interleave_ae_mode by referring to the product manual.
interleave_ae_mode:
# 'hdr' or 'laser'
interleave_ae_mode: "laser"
#enable interleave frame
interleave_frame_enable: false
interleave_skip:
#enable interleave skip
interleave_skip_enable: false
# 0:skip pattern ir 1: skip flood ir
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