# 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