From e6343eb095388394641361f4e1fa51f9af4a9229 Mon Sep 17 00:00:00 2001 From: zhuangzi Date: Sun, 12 Jan 2025 13:30:35 +0800 Subject: [PATCH] Remove unused YAML files --- orbbec_camera/config/multicamera.yaml | 22 --- orbbec_camera/config/multicamera_synced.yaml | 40 ----- .../gemini330_series_sync_front_camera.yaml | 141 ------------------ .../gemini330_series_sync_left_camera.yaml | 141 ------------------ .../gemini330_series_sync_rear_camera.yaml | 141 ------------------ .../gemini330_series_sync_right_camera.yaml | 141 ------------------ .../gemini330_series_test1.yaml | 141 ------------------ .../gemini330_series_test2.yaml | 141 ------------------ .../launch/orbbec_multicamera.launch.py | 54 +++---- 9 files changed, 27 insertions(+), 935 deletions(-) delete mode 100644 orbbec_camera/config/multicamera.yaml delete mode 100644 orbbec_camera/config/multicamera_synced.yaml delete mode 100644 orbbec_camera/config/multicamera_test/gemini330_series_sync_front_camera.yaml delete mode 100644 orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml delete mode 100644 orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml delete mode 100644 orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml delete mode 100644 orbbec_camera/config/multicamera_test/gemini330_series_test1.yaml delete mode 100644 orbbec_camera/config/multicamera_test/gemini330_series_test2.yaml diff --git a/orbbec_camera/config/multicamera.yaml b/orbbec_camera/config/multicamera.yaml deleted file mode 100644 index 90ad90a5..00000000 --- a/orbbec_camera/config/multicamera.yaml +++ /dev/null @@ -1,22 +0,0 @@ -# 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: 2.0 - camera_name: "camera2" - usb_port: "2-1-2" - device_num: "2" - sync_mode: "standalone" diff --git a/orbbec_camera/config/multicamera_synced.yaml b/orbbec_camera/config/multicamera_synced.yaml deleted file mode 100644 index e57dc38c..00000000 --- a/orbbec_camera/config/multicamera_synced.yaml +++ /dev/null @@ -1,40 +0,0 @@ -# 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: 2.0 - camera_name: "front_camera" - usb_port: "4-3.3" - device_num: "2" - sync_mode: "primary" - - 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: "4-3.1" - device_num: "2" - sync_mode: "secondary_synced" - - # launch_device_camera3: - # config_file_path: "multicamera_test/gemini330_series_sync_rear_camera.yaml" - # # default period 0.0; unit: second - # period: 2.0 - # camera_name: "rear_camera" - # usb_port: "2-3" - # device_num: "3" - # sync_mode: "secondary_synced" - - # launch_device_camera4: - # config_file_path: "multicamera_test/gemini330_series_sync_right_camera.yaml" - # # default period 0.0; unit: second - # period: 4.0 - # camera_name: "right_camera" - # usb_port: "2-7" - # device_num: "4" - # sync_mode: "secondary_synced" \ No newline at end of file diff --git a/orbbec_camera/config/multicamera_test/gemini330_series_sync_front_camera.yaml b/orbbec_camera/config/multicamera_test/gemini330_series_sync_front_camera.yaml deleted file mode 100644 index aa5cd2bb..00000000 --- a/orbbec_camera/config/multicamera_test/gemini330_series_sync_front_camera.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# 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: "2-1" - device_num: 4 - uvc_backend: "libuvc" - product_id: "" - connection_delay: 100 - time_domain: "global" - retry_on_usb3_detection_failure: false - enable_heartbeat: 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 - - device_sync: - sync_mode: "standalone" - depth_delay_us: 0 - color_delay_us: 0 - trigger2image_delay_us: 0 - trigger_out_enabled: true - trigger_out_delay_us: 0 - frames_per_trigger: 2 - software_trigger_period: 33 - - interleave_ae_mode: - interleave_ae_mode: "laser" - interleave_frame_enable: false - - interleave_skip: - interleave_skip_enable: false - 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 - - diff --git a/orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml b/orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml deleted file mode 100644 index eded31bd..00000000 --- a/orbbec_camera/config/multicamera_test/gemini330_series_sync_left_camera.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# 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: "2-2" - device_num: 4 - uvc_backend: "libuvc" - product_id: "" - connection_delay: 100 - time_domain: "global" - retry_on_usb3_detection_failure: false - enable_heartbeat: 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 - - device_sync: - sync_mode: "standalone" - depth_delay_us: 0 - color_delay_us: 0 - trigger2image_delay_us: 0 - trigger_out_enabled: true - trigger_out_delay_us: 0 - frames_per_trigger: 2 - software_trigger_period: 33 - - interleave_ae_mode: - interleave_ae_mode: "laser" - interleave_frame_enable: false - - interleave_skip: - interleave_skip_enable: false - 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 - - diff --git a/orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml b/orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml deleted file mode 100644 index fe16d214..00000000 --- a/orbbec_camera/config/multicamera_test/gemini330_series_sync_rear_camera.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# 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: "2-3" - device_num: 4 - uvc_backend: "libuvc" - product_id: "" - connection_delay: 100 - time_domain: "global" - retry_on_usb3_detection_failure: false - enable_heartbeat: 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 - - device_sync: - sync_mode: "standalone" - depth_delay_us: 0 - color_delay_us: 0 - trigger2image_delay_us: 0 - trigger_out_enabled: true - trigger_out_delay_us: 0 - frames_per_trigger: 2 - software_trigger_period: 33 - - interleave_ae_mode: - interleave_ae_mode: "laser" - interleave_frame_enable: false - - interleave_skip: - interleave_skip_enable: false - 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 - - diff --git a/orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml b/orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml deleted file mode 100644 index 67dc020a..00000000 --- a/orbbec_camera/config/multicamera_test/gemini330_series_sync_right_camera.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# 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: "2-4" - device_num: 4 - uvc_backend: "libuvc" - product_id: "" - connection_delay: 100 - time_domain: "global" - retry_on_usb3_detection_failure: false - enable_heartbeat: 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 - - device_sync: - sync_mode: "standalone" - depth_delay_us: 0 - color_delay_us: 0 - trigger2image_delay_us: 0 - trigger_out_enabled: true - trigger_out_delay_us: 0 - frames_per_trigger: 2 - software_trigger_period: 33 - - interleave_ae_mode: - interleave_ae_mode: "laser" - interleave_frame_enable: false - - interleave_skip: - interleave_skip_enable: false - 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 - - diff --git a/orbbec_camera/config/multicamera_test/gemini330_series_test1.yaml b/orbbec_camera/config/multicamera_test/gemini330_series_test1.yaml deleted file mode 100644 index 5ce9db69..00000000 --- a/orbbec_camera/config/multicamera_test/gemini330_series_test1.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# 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: "2-1" - device_num: 2 - uvc_backend: "libuvc" - product_id: "" - connection_delay: 100 - time_domain: "global" - retry_on_usb3_detection_failure: false - enable_heartbeat: 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 - - device_sync: - sync_mode: "standalone" - depth_delay_us: 0 - color_delay_us: 0 - trigger2image_delay_us: 0 - trigger_out_enabled: true - trigger_out_delay_us: 0 - frames_per_trigger: 2 - software_trigger_period: 33 - - interleave_ae_mode: - interleave_ae_mode: "laser" - interleave_frame_enable: false - - interleave_skip: - interleave_skip_enable: false - 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 - - diff --git a/orbbec_camera/config/multicamera_test/gemini330_series_test2.yaml b/orbbec_camera/config/multicamera_test/gemini330_series_test2.yaml deleted file mode 100644 index 0c27f871..00000000 --- a/orbbec_camera/config/multicamera_test/gemini330_series_test2.yaml +++ /dev/null @@ -1,141 +0,0 @@ -# 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: "2-2" - device_num: 2 - uvc_backend: "libuvc" - product_id: "" - connection_delay: 100 - time_domain: "global" - retry_on_usb3_detection_failure: false - enable_heartbeat: 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 - - device_sync: - sync_mode: "standalone" - depth_delay_us: 0 - color_delay_us: 0 - trigger2image_delay_us: 0 - trigger_out_enabled: true - trigger_out_delay_us: 0 - frames_per_trigger: 2 - software_trigger_period: 33 - - interleave_ae_mode: - interleave_ae_mode: "laser" - interleave_frame_enable: false - - interleave_skip: - interleave_skip_enable: false - 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 - - diff --git a/orbbec_camera/launch/orbbec_multicamera.launch.py b/orbbec_camera/launch/orbbec_multicamera.launch.py index ab4a413a..4bc691c4 100644 --- a/orbbec_camera/launch/orbbec_multicamera.launch.py +++ b/orbbec_camera/launch/orbbec_multicamera.launch.py @@ -16,12 +16,12 @@ def generate_launch_description(): os.path.join(launch_file_dir, 'orbbec_camera.launch.py') ), launch_arguments={ - "camera_model": "gemini330_series", - "attach_component_container_enable": "true", - "camera_name": 'G330_0', - "usb_port": "2-1", - "device_num": "4", - "sync_mode": "primary", + 'camera_model': 'gemini330_series', + 'attach_component_container_enable': 'true', + 'camera_name': 'G330_0', + 'usb_port': '2-1', + 'device_num': '4', + 'sync_mode': 'primary', }.items() ) @@ -30,13 +30,13 @@ def generate_launch_description(): os.path.join(launch_file_dir, 'orbbec_camera.launch.py') ), launch_arguments={ - "camera_model": "gemini330_series", - "attach_component_container_enable": "false", - "camera_name": 'G330_1', - "usb_port": '2-4', - "device_num": '4', - "sync_mode": "secondary_synced", - "trigger_out_enabled": 'false', + 'camera_model': 'gemini330_series', + 'attach_component_container_enable': 'false', + 'camera_name': 'G330_1', + 'usb_port': '2-4', + 'device_num': '4', + 'sync_mode': 'secondary_synced', + 'trigger_out_enabled': 'false', }.items() ) @@ -45,13 +45,13 @@ def generate_launch_description(): os.path.join(launch_file_dir, 'orbbec_camera.launch.py') ), launch_arguments={ - "camera_model": "gemini330_series", - "attach_component_container_enable": "true", - "camera_name": 'G330_2', - "usb_port": '2-7', - "device_num": '4', - "sync_mode": "secondary_synced", - "trigger_out_enabled": 'false', + 'camera_model': 'gemini330_series', + 'attach_component_container_enable': 'true', + 'camera_name': 'G330_2', + 'usb_port': '2-7', + 'device_num': '4', + 'sync_mode': 'secondary_synced', + 'trigger_out_enabled': 'false', }.items() ) @@ -60,13 +60,13 @@ def generate_launch_description(): os.path.join(launch_file_dir, 'orbbec_camera.launch.py') ), launch_arguments={ - "camera_model": "gemini330_series", - "attach_component_container_enable": "true", - "camera_name": 'G330_3', - "usb_port": '2-3', - "device_num": '4', - "sync_mode": "secondary_synced", - "trigger_out_enabled": 'false', + 'camera_model': 'gemini330_series', + 'attach_component_container_enable': 'true', + 'camera_name': 'G330_3', + 'usb_port': '2-3', + 'device_num': '4', + 'sync_mode': 'secondary_synced', + 'trigger_out_enabled': 'false', }.items() )