mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 19:40:19 +08:00
99 lines
2.8 KiB
YAML
99 lines
2.8 KiB
YAML
# config/*.yaml files are used to configure the camera parameters
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---
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orbbec_ros:
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camera_parameters:
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general:
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# Camera model. upport product models by referencing config/*.yaml
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camera_model: "gemini330_series"
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# Path to the configuration file. If empty, default parameters will be used
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config_file_path: "gemini330_series.yaml"
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deivce:
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camera_name: "camera"
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serial_number: ""
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usb_port: ""
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device_num: 1
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uvc_backend: "libuvc"
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product_id: ""
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connection_delay: 10
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time_domain: "global"
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retry_on_usb3_detection_failure: false
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enable_heartbeat: false
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enable_ldp: true
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device_preset: "Default"
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color:
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enable_color: true
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color_qos: "default"
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color_camera_info_qos: "default"
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color_width: 0
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color_height: 0
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color_fps: 0
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color_format: "ANY"
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enable_color_auto_white_balance: true
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color_white_balance: -1
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color_auto_ae:
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enable_color_auto_exposure: true
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color_ae_max_exposure: -1
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color_manual_ae:
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color_exposure: -1
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color_gain: -1
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color_brightness: -1
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depth:
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enable_depth: true
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depth_qos: "default"
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depth_camera_info_qos: "default"
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depth_width: 0
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depth_height: 0
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depth_fps: 0
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depth_format: "ANY"
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depth_registration: true
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align_mode: "SW"
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laser:
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enable_laser: true
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leftir:
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enable_left_ir: false
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left_ir_qos: "default"
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left_ir_camera_info_qos: "default"
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left_ir_width: 0
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left_ir_height: 0
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left_ir_fps: 0
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left_ir_format: "ANY"
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rightir:
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enable_right_ir: false
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right_ir_camera_info_qos: "default"
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right_ir_width: 0
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right_ir_height: 0
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right_ir_fps: 0
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right_ir_format: "ANY"
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ir_parameters:
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enable_ir_auto_exposure: true
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ir_ae_max_exposure: -1
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ir_exposure: -1
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ir_gain: -1
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ir_brightness: -1
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imu:
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enable_accel: false
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accel_rate: "200hz"
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accel_range: "4g"
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enable_gyro: false
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gyro_rate: "200hz"
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gyro_range: "1000dps"
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enable_sync_output_accel_gyro: false
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linear_accel_cov: 0.01
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angular_vel_cov: 0.01
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point_cloud:
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enable_point_cloud: true
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enable_colored_point_cloud: false
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advanced:
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enable_frame_sync: true
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enable_d2c_viewer: false
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