# 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