# 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