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Merge with OrbbecSDK_ROS2 v2.1.1

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datean
2024-12-24 10:03:32 +08:00
parent 08d3c4bd9d
commit db2530fa65
58 changed files with 3280 additions and 2683 deletions
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orbbec_camera/config/OrbbecSDKConfig.xml
-1605
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orbbec_camera/config/OrbbecSDKConfig_v2.0.xml
+254 -11
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@@ -8,9 +8,9 @@
<!-- Log output level, int type, optional values: 0-DEBUG, 1-INFO, 2-WARN, 3-ERROR, 4-FATAL,
5-OFF -->
<!-- File log output level -->
<FileLogLevel>0</FileLogLevel>
<FileLogLevel>5</FileLogLevel>
<!-- Console log output level -->
<ConsoleLogLevel>0</ConsoleLogLevel>
<ConsoleLogLevel>3</ConsoleLogLevel>
<!-- Default log output file path, string type. If this item is not configured, the default
path will be used: Win/Linux: "./Log"; Android: "/sdcard/orbbec/Log" -->
<!-- <OutputDir>./log</OutputDir> -->
@@ -36,15 +36,6 @@
<FrameProcessingBlockQueueSize>10</FrameProcessingBlockQueueSize>
</Memory>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Default working configuration of pipeline -->
<Pipeline>
<Stream>
@@ -92,6 +83,15 @@
<!-- For Femto-Mega devices, it must be set to V4L2, LibUVC is not supported -->
<LinuxUVCDefaultBackend>V4L2</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<Depth>
<!-- The width of the default resolution, int type -->
<Width>640</Width>
@@ -166,6 +166,15 @@
</FemtoMega>
<FemtoMegai>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<Depth>
<!-- The width of the default resolution, int type -->
<Width>640</Width>
@@ -244,6 +253,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<Depth>
<!-- The width of the default resolution, int type -->
<Width>640</Width>
@@ -323,6 +341,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<Depth>
@@ -497,6 +524,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaulHeartBeat>0</DefaulHeartBeat>
@@ -671,6 +707,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaulHeartBeat>0</DefaulHeartBeat>
@@ -783,6 +828,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaulHeartBeat>0</DefaulHeartBeat>
@@ -1059,6 +1113,15 @@
this item will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
@@ -1133,6 +1196,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
@@ -1207,6 +1279,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
@@ -1276,6 +1357,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
@@ -1350,6 +1440,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaultHeartBeat>0</DefaultHeartBeat>
<!-- Whether to enable firmware upgrade foolproof by default, only internal version
@@ -1425,6 +1524,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!--Whether
to enable heartbeat by default-->
<DefaultHeartBeat>0</DefaultHeartBeat>
@@ -1517,6 +1625,15 @@
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!--Whether
to enable heartbeat by default-->
<DefaultHeartBeat>0</DefaultHeartBeat>
@@ -1601,5 +1718,131 @@
<Format>Y8</Format>
</IR_RIGHT>
</DaBaiAL>
<!-- Gemini210 config -->
<Gemini210>
<!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaulHeartBeat>0</DefaulHeartBeat>
<Depth>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
<!-- The number of data stream restarts due to abnormal interruption, 0 means no
restart -->
<StreamInterruptedRestart>0</StreamInterruptedRestart>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>800</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<Format>Y16</Format>
</Depth>
<Color>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>720</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<!-- The frame rate of the resolution enabled by default, int type -->
<Format>MJPG</Format>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>800</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<!-- The frame rate of the resolution enabled by default, int type -->
<Format>Y8</Format>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</Gemini210>
<!-- Gemini215 config -->
<Gemini215>
<!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item
will determine the device's speciality. Optional values: V4L2, LibUVC -->
<LinuxUVCDefaultBackend>LibUVC</LinuxUVCDefaultBackend>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
minimum value: 100, it is recommended not to be greater than 1000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
<GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
</Misc>
<!-- Whether to enable heartbeat by default -->
<DefaulHeartBeat>0</DefaulHeartBeat>
<Depth>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- Open flow waits for the timeout period of the first frame of data, after which
the open flow will fail -->
<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
<!-- The number of data stream restarts due to abnormal interruption, 0 means no
restart -->
<StreamInterruptedRestart>0</StreamInterruptedRestart>
<!-- The maximum frame interval time, if this value is exceeded, it will be judged
that the stream is interrupted -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>800</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<Format>Y16</Format>
</Depth>
<Color>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>720</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<!-- The frame rate of the resolution enabled by default, int type -->
<Format>MJPG</Format>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!-- The resolution width is enabled by default, int type -->
<Width>1280</Width>
<!-- High resolution is enabled by default, int type -->
<Height>800</Height>
<!-- The frame rate of the resolution enabled by default, int type -->
<FPS>15</FPS>
<!-- The frame rate of the resolution enabled by default, int type -->
<Format>Y8</Format>
<!-- Number of retries for open stream failures, 0 means no retries -->
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</Gemini215>
</Device>
</Config>
orbbec_camera/config/astra2.yaml
+111
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@@ -0,0 +1,111 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "astra2"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "astra2.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.
connection_delay: 100
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_width: 1280
# Height of the color image. If 0, the default height will be used
color_height: 720
# Fps of the color image. If 0, the default FPS will be used
color_fps: 30
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_width: 800
# Height of the depth image. If 0, the default height will be used
depth_height: 600
# Fps of the depth image. If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "RLE"
# Depth registration mode.
depth_registration: false
# The alignment mode to be used.
align_mode: "HW"
ir:
# If false, the left IR image will not be enabled
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_width: 800
# Height of the left IR image. If 0, the default height will be used
ir_height: 600
# Fps of the ir image. If 0, the default FPS will be used
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y8"
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
point_cloud:
# If true, the point cloud will be enabled
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
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: false
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
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
orbbec_camera/config/camera_335_params.yaml
-49
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@@ -1,49 +0,0 @@
# 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
interleave_ae_mode: "laser"
interleave_frame_enable: true
interleave_skip_enable: false
interleave_skip_index: 1
time_domain: "global" # global, device, system
enable_sync_host_time: true
trigger_out_enabled: true
frames_per_trigger: 0
software_trigger_period: 0
# color params
enable_color: false
color_width: 640
color_height: 480
color_fps: 30
color_format: "MJPG"
enable_color_auto_exposure: false
color_exposure: 50 # 5ms
color_gain: 16 # -1 default
#left ir params
enable_left_ir: true
left_ir_width: 640
left_ir_height: 480
left_ir_fps: 30
left_ir_format: "Y8"
enable_ir_auto_exposure: true
ir_exposure: 5000 # 5ms
ir_gain: 16 # -1 default
# depth params
enable_depth: true
depth_width: 640
depth_height: 480
depth_fps: 30
depth_format: "Y16"
orbbec_camera/config/common.yaml
+437
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@@ -0,0 +1,437 @@
# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# 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"
# Log level. Supported levels are 'debug', 'info', 'warning' and 'error'. Default is 'none'.
log_level: "none"
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
# 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
# If true, the heartbeat will be enabled
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"
network_device:
# Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices.
# When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true.
enumerate_net_device: false
# Port number of the network device. If 0, a random port will be used
net_device_port: 0
# IP address of the network device.
net_device_ip: ""
color:
# If true, the color image will be enabled
enable_color: true
# Quality of Service for the color image topic and the color camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
color_qos: "default"
color_camera_info_qos: "default"
# Width of the color image. If 0, the default width will be used
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"
# If true, the color image will be flipped horizontally
flip_color: false
# If true, the color image will be undistorted
enable_color_undistortion: false
# enable auto white balance for the color image
enable_color_auto_white_balance: true
# Manual set white balance value for the color image. If -1, note:enable_color_auto_white_balance: false
color_white_balance: -1
# Auto exposure enable & configuration
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
color_ae_roi_top: -1
# right edge of the auto exposure region of interest. If -1, the default value will be used
color_ae_roi_right: -1
# bottom edge of the auto exposure region of interest. If -1, the default value will be used
color_ae_roi_bottom: -1
# Manual exposure must set enable_color_auto_exposure: false
color_manual_ae:
# exposure value for the color image. If -1, the default exposure will be used
color_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
color_brightness: -1
depth:
# If true, the depth image will be enabled
enable_depth: true
# Quality of Service for the depth image topic and the depth camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
depth_qos: "default"
depth_camera_info_qos: "default"
# Width of the depth image. If 0, the default width will be used
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 true, the depth image will be flipped horizontally
flip_depth: false
# If false, the depth scale will not be enabled
enable_depth_scale: true
# Depth accuracy, the format should be 1mm. The default value is 1mm.
depth_precision: ""
# 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"
# Gemini 2, Gemini 2 L, and Gemini 2 XL cameras support deep working mode switching
# Specific camera deep working mode support types can be found in the deep mode comments.
# Deep working mode support is as follows:{"Unbinned Dense Default","Unbinned Sparse Default","Binned Sparse Default","Obstacle Avoidance"}
# Depth work mode. #For details, Please refer to the comments in SDK/include/libobsensor/Advanced.h for a detailed explanation.
depth_work_mode: ""
# Configure the loading path of the deep filtering configuration file. By default, the deep filtering configuration file is located in the /config/depthfilter directory and is only supported by Gemini2.
depth_filter_config: ""
# Auto exposure region of interest left. If -1, the default value will be used
depth_ae_roi:
depth_ae_roi_left: -1
# Auto exposure region of interest top. If -1, the default value will be used
depth_ae_roi_top: -1
# Auto exposure region of interest right. If -1, the default value will be used
depth_ae_roi_right: -1
# Auto exposure region of interest bottom. If -1, the default value will be used
depth_ae_roi_bottom: -1
laser:
# Whether to enable the laser. Default value is true
enable_laser: true
# Laser energy level. If -1, the default energy level will be used
laser_energy_level: -1
filter:
# This filtering effectively reduces the complexity of the depth scene. The filtering operates with kernel sizes ranging from [2x2] to [8x8] pixels.
# The image size is proportionally reduced in both dimensions to maintain the aspect ratio.
decimation_filter:
# If true, the decimation filter will be enabled
enable_decimation_filter: false
# Decimation filter scale. If -1, the default scale will be used
decimation_filter_scale: -1
# This filtering removes speckle noise in the form of clusters and produces a depth map with less filling.
noise_removal_filter:
# If true, the noise removal filter will be enabled
enable_noise_removal_filter: true
# Noise removal filter min diff.
noise_removal_filter_min_diff: 256
# Noise removal filter max size
noise_removal_filter_max_size: 80
# This filter retains depth values of interest and ignores depth values that are out of range.
threshold_filter:
# If true, the threshold filter will be enabled
enable_threshold_filter: false
# Threshold filter max. If -1, the default max will be used
threshold_filter_max: -1
# Threshold filter min. If -1, the default min will be used
threshold_filter_min: -1
# This filtering process, specified by multiple iterations according to the amplitude parameter, is used to enhance the smoothness of depth data.
# It can also fill small holes in the depth map.
spatial_filter:
# -enable_spatial_filter
enable_spatial_filter: false
# Spatial filter alpha. If -1, the default alpha will be used
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
spatial_filter_magnitude: -1
# Spatial filter radius. If -1, the default radius will be used
spatial_filter_radius: -1
# This filtering aims to improve the persistence of depth data by manipulating per-pixel values based on previous frames. The filtering performs a single processing on the data,
# adjusting depth values while updating tracking history.
temporal_filter:
# -enable_temporal_filter
enable_temporal_filter: false
# Temporal filter diff threshold. If -1, the default threshold will be used
temporal_filter_diff_threshold: -1.0
# Temporal filter weight. If -1, the default weight will be used
temporal_filter_weight: -1.0
# This filter fills all holes in the depth map using the specified mode.
hole_filling_filter:
# -enable_hole_filling_filter
enable_hole_filling_filter: false
# Hole filling filter mode. If empty, the default mode will be used
hole_filling_filter_mode: ""
soft_filter:
# If false, the soft filter will not be enabled
enable_soft_filter: true
# The maximum difference between the current and previous depth frame to be considered valid
soft_filter_max_diff: -1
# The size of the speckle to be filtered out
soft_filter_speckle_size: -1
# This filtering is used in conjunction with the deep HDR function and only outputs sequences with the specified sequence ID.
sequence_filter:
# If true, the sequence ID filter will be enabled
enable_sequence_id_filter: false
# Sequence ID filter ID. If -1, the default ID will be used
sequence_id_filter_id: -1
# This filtering is used in conjunction with the deep HDR function. By merging consecutive depth images with alternating exposure values,
# we can simultaneously overcome the challenges of obtaining depth values for low-light and over-illuminated objects.
hdr_filter:
# If true, the HDR merge filter will be enabled
enable_hdr_merge: false
# HDR merge exposure1, If -1, the default value will be used
hdr_merge_exposure_1: -1
# HDR merge gain1, If -1, the default value will be used
hdr_merge_gain_1: -1
# HDR merge exposure2, If -1, the default value will be used
hdr_merge_exposure_2: -1
# HDR merge gain2, If -1, the default value will be used
hdr_merge_gain_2: -1
leftir:
# If false, the left IR image will not be enabled
enable_left_ir: false
# Quality of Service for the left IR image topic and the left IR camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
left_ir_qos: "default"
left_ir_camera_info_qos: "default"
# Width of the left IR image. If 0, the default width will be used
left_ir_width: 0
# Height of the left IR image. If 0, the default height will be used
left_ir_height: 0
# 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: "ANY"
rightir:
# If false, the right IR image will not be enabled
enable_right_ir: false
# Quality of Service for the right IR image topic and the right IR camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
right_ir_qos: "default"
right_ir_camera_info_qos: "default"
# Width of the right IR image. If 0, the default width will be used
right_ir_width: 0
# Height of the right IR image. If 0, the default height will be used
right_ir_height: 0
# 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: "ANY"
ir:
# If false, the left IR image will not be enabled
enable_ir: false
# Quality of Service for the IR image topic and the IR camera info topic
# [color|depth|ir]_qos, and [color|depth|ir]_camera_info_qos and [point_cloud_qos] are the Quality of Service (QoS) settings in ROS 2 messages.
# The possible values include SYSTEM_DEFAULT, DEFAULT, PARAMETER_EVENTS, SERVICES_DEFAULT, PARAMETERS, and SENSOR_DATA, and these values are not case-sensitive.
# They respectively correspond to rmw_qos_profile_system_default, rmw_qos_profile_default, rmw_qos_profile_parameter_events, rmw_qos_profile_services_default, rmw_qos_profile_parameters, and SENSOR_DATA.
ir_qos: "default"
ir_camera_info_qos: "default"
# Width of the IR image. If 0, the default width will be used
ir_width: 0
# Height of the IR image. If 0, the default height will be used
ir_height: 0
# Fps of the IR image. If 0, the default FPS will be used
ir_fps: 0
# Format of the IR image. Supported formats are 'Y8'
ir_format: "Y8"
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
# ir_brightness, if -1, auto brightness will be used
ir_brightness: -1
# If true, the left IR image will be flipped horizontally
flip_ir: false
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
# Covariance of the linear acceleration
liner_accel_cov: 0.01
# Covariance of the angular velocity
angular_vel_cov: 0.01
point_cloud:
# enable point cloud. {fase:disable, true:enable}
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
point_cloud_qos: "default"
# Support modifying the frame_id name within the ros message, with the depth name used by default.
cloud_frame_id: ""
# If true, enable filtering of invalid point clouds, i.e., filtering point cloud data with Z=0
ordered_pc: false
tf:
# If true, the TF will be enabled
publish_tf: true
# Rate of the TF publication
tf_publish_rate: 0.0
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
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: 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: true
# URL of the IR image info
ir_info_url: ""
# URL of the color image info
color_info_url: ""
# If true, the 3D reconstruction mode will be enabled
enable_3d_reconstruction_mode: false
# Diagnostic period in seconds
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}.
# 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
orbbec_camera/config/femto.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "femto"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "femto.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.
connection_delay: 100
# If true, the heartbeat will be enabled
enable_heartbeat: false
# If true, the LDP will be enabled
enable_ldp: true
network_device:
# Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices.
# When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true.
enumerate_net_device: false
# Port number of the network device. If 0, a random port will be used
net_device_port: 0
# IP address of the network device.
net_device_ip: ""
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_width: 640
# Height of the color image. If 0, the default height will be used
color_height: 480
# If 0, the default FPS will be used
color_fps: 30
# Format of the color image.
color_format: "MJPG"
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_width: 640
# Height of the depth image. If 0, the default height will be used
depth_height: 480
# fps of the depth image. If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# Depth registration enable
depth_registration: false
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "HW"
ir:
# If false, the left IR image will not be enabled
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_width: 640
# Height of the left IR image. If 0, the default height will be used
ir_height: 480
# Fps of the left IR image. If 0, the default FPS will be used
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y16"
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
point_cloud:
# If true, the point cloud will be enabled
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: false
# If true, Overlay display of color image and depth image after D2C processing will be enabled
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: false
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
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
orbbec_camera/config/femtobolt.yaml
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# config/*.yaml files are used to configure the camera parameters
#
# For Femto Mega and Femto Bolt devices, Configuration of depth NFOV and WFOV modes.
# NFOV and WFOV modes are achieved by configuring the resolution of Depth and IR in the startup file.
# In the startup file, depth_width, depth_height, ir_width, ir_height represent the resolution of depth and the resolution of IR, respectively.
# The frame rate and resolution of IR must be consistent with depth. The corresponding relationship between different modes and resolution is as follows:
# • NFOV unbinned: 640 x 576.
# • NFOV binned: 320 x 288.
# • WFOV unbinned: 1024 x 1024.
# • WFOV binned: 512 x 512.
#
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "femtobolt"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "femtobolt.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.
connection_delay: 100
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_width: 1280
# Height of the color image. If 0, the default height will be used
color_height: 720
# If 0, the default FPS will be used
color_fps: 30
# Format of the color image.
color_format: "MJPG"
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_width: 640
# Height of the depth image. If 0, the default height will be used
depth_height: 576
# If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# If false, the depth scale will not be enabled
enable_depth_scale: true
# Depth registration mode.
depth_registration: false
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "SW"
filter:
soft_filter:
# If false, the soft filter will not be enabled
enable_soft_filter: true
# The maximum difference between the current and previous depth frame to be considered valid
soft_filter_max_diff: -1
# The size of the speckle to be filtered out
soft_filter_speckle_size: -1
ir:
# If false, the left IR image will not be enabled
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_width: 640
# Height of the left IR image. If 0, the default height will be used
ir_height: 576
# If 0, the default FPS will be used
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y16"
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "200hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "200hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
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
# If true, Overlay display of color image and depth image after D2C processing will be enabled
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: true
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
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
orbbec_camera/config/femtomega.yaml
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# config/*.yaml files are used to configure the camera parameters
#
# For Femto Mega and Femto Bolt devices, Configuration of depth NFOV and WFOV modes.
# NFOV and WFOV modes are achieved by configuring the resolution of Depth and IR in the startup file.
# In the startup file, depth_width, depth_height, ir_width, ir_height represent the resolution of depth and the resolution of IR, respectively.
# The frame rate and resolution of IR must be consistent with depth. The corresponding relationship between different modes and resolution is as follows:
# • NFOV unbinned: 640 x 576.
# • NFOV binned: 320 x 288.
# • WFOV unbinned: 1024 x 1024.
# • WFOV binned: 512 x 512.
#
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "femtomega"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "femtomega.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.
connection_delay: 100
network_device:
# Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices.
# When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true.
enumerate_net_device: false
# Port number of the network device. If 0, a random port will be used
net_device_port: 0
# IP address of the network device.
net_device_ip: ""
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_width: 1280
# Height of the color image. If 0, the default height will be used
color_height: 720
# If 0, the default FPS will be used
color_fps: 30
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_width: 640
# Height of the depth image. If 0, the default height will be used
depth_height: 576
# If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# If false, the depth scale will not be enabled
enable_depth_scale: true
# Depth registration mode.
depth_registration: false
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "HW"
ir:
# If false, the left IR image will not be enabled
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_width: 640
# Height of the left IR image. If 0, the default height will be used
ir_height: 576
# If 0, the default FPS will be used
ir_fps: 30
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y16"
imu:
# If true, the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
point_cloud:
# If true, the point cloud will be enabled
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
# Publish D2C superimposed image (only for testing).
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_time: false
# If false, the host time will not be synchronized with the device time
enable_sync_host_time: false
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
orbbec_camera/config/gemini2.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini2"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini2.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.
connection_delay: 100
# If true, the heartbeat will be enabled
enable_heartbeat: false
# If true, the LDP will be enabled
enable_ldp: true
network_device:
# Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices.
# When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true.
enumerate_net_device: false
# Port number of the network device. If 0, a random port will be used
net_device_port: 0
# IP address of the network device.
net_device_ip: ""
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_width: 640
# Height of the color image. If 0, the default height will be used
color_height: 360
# If 0, the default FPS will be used
color_fps: 15
# Format of the color image.
color_format: "MJPG"
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_width: 640
# Height of the depth image. If 0, the default height will be used
depth_height: 400
# If 0, the default FPS will be used
depth_fps: 15
# Format of the depth image.
depth_format: "Y14"
# 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: "HW"
# Gemini 2, Gemini 2 L, and Gemini 2 XL cameras support deep working mode switching
# Specific camera deep working mode support types can be found in the deep mode comments.
# Deep working mode support is as follows:{"Unbinned Dense Default","Unbinned Sparse Default","Binned Sparse Default","Obstacle Avoidance"}
# Depth work mode. #For details, Please refer to the comments in SDK/include/libobsensor/Advanced.h for a detailed explanation.
depth_work_mode: ""
# Configure the loading path of the deep filtering configuration file. By default, the deep filtering configuration file is located in the /config/depthfilter directory and is only supported by Gemini2.
depth_filter_config: ""
filter:
soft_filter:
# If false, the soft filter will not be enabled
enable_soft_filter: true
# The maximum difference between the current and previous depth frame to be considered valid
soft_filter_max_diff: -1
# The size of the speckle to be filtered out
soft_filter_speckle_size: -1
ir:
# enable the ir camera stream
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_width: 640
# Height of the left IR image. If 0, the default height will be used
ir_height: 400
# If 0, the default FPS will be used
ir_fps: 15
# Format of the left IR image. Supported formats are 'Y8'
ir_format: "Y8"
imu:
# If true, enable the IMU accelerometer data
enable_accel: false
# Rate of the accelerometer
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, enable the IMU gyroscope data
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: true
point_cloud:
# If true, the depth point cloud will be enabled
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
# If true, Overlay display of color image and depth image after D2C processing will be enabled
enable_d2c_viewer: false
# If false, the hardware time will not be used
use_hardware_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
orbbec_camera/config/gemini2L.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini2L"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini2L.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.
connection_delay: 100
network_device:
# Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices.
# When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true.
enumerate_net_device: false
# Port number of the network device. If 0, a random port will be used
net_device_port: 0
# IP address of the network device.
net_device_ip: ""
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_width: 1280
# Height of the color image. If 0, the default height will be used
color_height: 800
# fps of the color image. If 0, the default FPS will be used
color_fps: 30
# Format of the color image.
color_format: "MJPG"
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_width: 1280
# Height of the depth image. If 0, the default height will be used
depth_height: 800
# If 0, the default FPS will be used
depth_fps: 30
# Format of the depth image.
depth_format: "Y16"
# If false, the depth scale will not be enabled
enable_depth_scale: true
# Depth registration mode.
depth_registration: false
# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
align_mode: "HW"
# Gemini 2, Gemini 2 L, and Gemini 2 XL cameras support deep working mode switching
# Specific camera deep working mode support types can be found in the deep mode comments.
# Deep working mode support is as follows:{"Unbinned Dense Default","Unbinned Sparse Default","Binned Sparse Default","Obstacle Avoidance"}
# Depth work mode. #For details, Please refer to the comments in SDK/include/libobsensor/Advanced.h for a detailed explanation.
depth_work_mode: ""
# Configure the loading path of the deep filtering configuration file. By default, the deep filtering configuration file is located in the /config/depthfilter directory and is only supported by Gemini2.
depth_filter_config: ""
filter:
soft_filter:
# If true, the soft filter will be enabled
enable_soft_filter: true
# soft_filter_max_diff, If -1, the default value will be used
soft_filter_max_diff: -1
# soft_filter_speckle_size, If -1, the default value will be used
soft_filter_speckle_size: -1
noise_removal_filter:
# If true, the noise removal filter will be enabled
enable_noise_removal_filter: true
ir:
# enable the ir camera stream
enable_ir: true
# Width of the left IR image. If 0, the default width will be used
ir_width: 640
# Height of the left IR image. If 0, the default height will be used
ir_height: 400
# If 0, the default FPS will be used
ir_fps: 15
# Format of the left IR image.
ir_format: "Y8"
imu:
# If true, enable the IMU accelerometer data will be enabled
enable_accel: false
# Rate of the accelerometer
accel_rate: "100hz"
# Range of the accelerometer.
accel_range: "4g"
# If true, enable the IMU gyroscope data will be enabled
enable_gyro: false
# Rate of the gyroscope.
gyro_rate: "100hz"
# Range of the gyroscope.
gyro_range: "1000dps"
# enable_sync_output_accel_gyro
enable_sync_output_accel_gyro: false
point_cloud:
# If true, the depth point cloud will be enabled
enable_point_cloud: true
# enable color point cloud. {fase:disable, true:enable}
enable_colored_point_cloud: false
advanced:
# If false, the hardware time will not be used
use_hardware_time: true
orbbec_camera/config/gemini330Lg_series.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330Lg_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330Lg_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.
connection_delay: 10
# If true, the heartbeat will be enabled
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_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
# Format of the color image. note: GMSL device dont't support MJPG format. need modify to YUYV format
color_format: "YUYV"
# 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
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_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: "Y16"
# 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:
# If true, the laser data will be enabled
enable_laser: false
# Laser On/Off mode.
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
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_point_cloud: false
# 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
# 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: true
# 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
orbbec_camera/config/gemini330_series.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
camera_name: "camera"
serial_number: ""
usb_port: ""
device_num: 1
uvc_backend: "libuvc"
vendor_id: "0x2bc5"
product_id: ""
connection_delay: 10
time_domain: "device"
retry_on_usb3_detection_failure: false
enable_heartbeat: false
enable_hardware_reset: false
enable_ldp: true
device_preset: "Default"
color:
enable_color: true
color_qos: "default"
color_camera_info_qos: "default"
color_width: 0
color_height: 0
color_fps: 0
color_format: "ANY"
enable_color_auto_white_balance: true
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:
enable_depth: true
depth_qos: "default"
depth_camera_info_qos: "default"
depth_width: 0
depth_height: 0
depth_fps: 0
depth_format: "ANY"
depth_registration: true
align_mode: "SW"
laser:
enable_laser: true
leftir:
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:
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:
enable_accel: false
accel_rate: "200hz"
accel_range: "4g"
enable_gyro: false
gyro_rate: "200hz"
gyro_range: "1000dps"
enable_sync_output_accel_gyro: false
liner_accel_cov: 0.01
angular_vel_cov: 0.01
point_cloud:
enable_point_cloud: true
enable_colored_point_cloud: false
advanced:
enable_frame_sync: true
enable_d2c_viewer: false
orbbec_camera/config/multicamera.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
multi_camera_parameters:
launch_device_camera1:
config_file_path: "multicamera_test/gemini330_series_test1.yaml"
# default period 0.0; unit: second
period: 0.0
camera_name: "camera1"
usb_port: "2-2-4"
device_num: "2"
sync_mode: "standalone"
launch_device_camera2:
config_file_path: "multicamera_test/gemini330_series_test2.yaml"
# default period 0.0; unit: second
period: 3.0
camera_name: "camera2"
usb_port: "2-1-2"
device_num: "2"
sync_mode: "standalone"
orbbec_camera/config/multicamera_synced.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
multi_camera_parameters:
launch_device_camera1:
config_file_path: "multicamera_test/gemini330_series_sync_front_camera.yaml"
# default period 0.0; unit: second
period: 3.0
camera_name: "front_camera"
usb_port: "2-5"
device_num: "3"
sync_mode: "hardware_triggering"
launch_device_camera2:
config_file_path: "multicamera_test/gemini330_series_sync_left_camera.yaml"
# default period 0.0; unit: second
period: 0.0
camera_name: "left_camera"
usb_port: "2-1"
device_num: "3"
sync_mode: "hardware_triggering"
launch_device_camera3:
config_file_path: "multicamera_test/gemini330_series_sync_rear_camera.yaml"
# default period 0.0; unit: second
period: 0.0
camera_name: "rear_camera"
usb_port: "2-3"
device_num: "3"
sync_mode: "hardware_triggering"
launch_device_camera4:
config_file_path: "multicamera_test/gemini330_series_sync_right_camera.yaml"
# default period 0.0; unit: second
period: 0.0
camera_name: "right_camera"
usb_port: "2-7"
device_num: "3"
sync_mode: "hardware_triggering"
orbbec_camera/config/multicamera_test/gemini330_series_sync_front_camera.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "front_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: "2-5"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 3
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# If true, the heartbeat will be enabled
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_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: "MJPG"
# 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
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_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: "Y16"
# 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
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_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
# 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: true
# 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: "SECONDARY_SYNCED"
# 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
orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "left_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: "2-1"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 3
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# If true, the heartbeat will be enabled
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_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: "MJPG"
# 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
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_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: "Y16"
# 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
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_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
# 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: true
# 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: "SECONDARY_SYNCED"
# 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
orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "rear_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: "2-3"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 3
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# If true, the heartbeat will be enabled
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_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: "MJPG"
# 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
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_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: "Y16"
# 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
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_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
# 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: true
# 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: "SECONDARY_SYNCED"
# 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
orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "right_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: "2-7"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 3
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# If true, the heartbeat will be enabled
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_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: "MJPG"
# 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
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_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: "Y16"
# 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
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_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
# 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: true
# 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: "SECONDARY_SYNCED"
# 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
orbbec_camera/config/multicamera_test/gemini330_series_test1.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera_test1"
# 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: "2-2-3"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 2
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# If true, the heartbeat will be enabled
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_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: "MJPG"
# 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
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_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: "Y16"
# 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
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_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
# 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: true
# 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
orbbec_camera/config/multicamera_test/gemini330_series_test2.yaml
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# config/*.yaml files are used to configure the camera parameters
---
orbbec_ros:
camera_parameters:
general:
# Camera model. upport product models by referencing config/*.yaml
camera_model: "gemini330_series"
# Path to the configuration file. If empty, default parameters will be used
config_file_path: "gemini330_series.yaml"
deivce:
# camera name, usually overwritten by launch file
camera_name: "camera_test2"
# 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: "2-1-12"
# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
device_num: 2
# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
connection_delay: 10
# If true, the heartbeat will be enabled
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_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: "MJPG"
# 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
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_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: "Y16"
# 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
leftir:
# the left IR image will not be enabled
enable_left_ir: true
rightir:
# the right IR image will not be enabled
enable_right_ir: true
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
point_cloud:
# enable point cloud. {fase:disable, true:enable}
enable_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
# 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: true
# 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