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[yaml]Update common.yaml and gemini330_series.yaml

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jj
2024-12-20 15:04:13 +08:00
parent e54649de0d
commit d40d9fe168
2 changed files with 61 additions and 166 deletions
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orbbec_camera/config/common.yaml
+23 -22
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@@ -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