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207 lines
10 KiB
YAML
207 lines
10 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, usually overwritten by launch file
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camera_name: "camera"
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# camera serial number, usually overwritten by launch file
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serial_number: ""
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# The USB port of the camera. This parameter is required when using multiple cameras.
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usb_port: ""
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# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
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device_num: 1
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# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
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connection_delay: 10
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# If true, the heartbeat will be enabled
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enable_heartbeat: false
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# If true, the camera will be reset
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enable_hardware_reset: false
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# If true, the LDP will be enabled
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enable_ldp: true
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# The preset of the device. #For details, Please refer to the comments in SDK/include/libobsensor/Advanced.h for a detailed explanation
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# Predefined presets doc reference: docs/source/2_installation/package_description.md
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# Deep working mode support is as follows:{"Default","Hand","High Accuracy","High Density","Medium Density","Custom"}
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device_preset: "Default"
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color:
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# If true, the color image will be enabled
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enable_color: true
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# Width of the color image. If 0, the default width will be used
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color_width: 0
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# Height of the color image. If 0, the default height will be used
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color_height: 0
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# Fps of the color image. If 0, the default FPS will be used
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color_fps: 0
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# default Format of the color image.
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color_format: "ANY"
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# enable auto exposure for the color image
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enable_color_auto_exposure: true
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# enable auto white balance for the color image
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enable_color_auto_white_balance: true
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# If true, the color image will be undistorted
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enable_color_undistortion: false
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depth:
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# If true, the depth image will be enabled
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enable_depth: true
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# Width of the depth image. If 0, the default width will be used
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depth_width: 0
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# Height of the depth image. If 0, the default height will be used
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depth_height: 0
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# Fps of the depth image. If 0, the default FPS will be used
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depth_fps: 0
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# default Format of the depth image.
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depth_format: "ANY"
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# If false, the depth scale will not be enabled
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enable_depth_scale: true
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# D2C Depth registration mode.
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# Enables hardware that aligns depth frames to color frames. This field is required when setting enable_colored_point_cloud to true
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depth_registration: true
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# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
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align_mode: "SW"
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laser:
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# Whether to enable the laser. Default value is true
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enable_laser: false
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# Laser Switch Alternate Mode, 0: Off, 1: On-Off Alternate, 2: Off-On Alternate. Default value is 0.
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laser_on_off_mode: 0
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filter:
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# -enable_decimation_filter
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enable_decimation_filter: false
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# -enable_hdr_merge
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enable_hdr_merge: false
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# -enable_sequence_id_filter
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enable_sequence_id_filter: false
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# -enable_threshold_filter
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enable_threshold_filter: false
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# -enable_noise_removal_filter
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enable_noise_removal_filter: true
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# -enable_spatial_filter
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enable_spatial_filter: false
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# -enable_temporal_filter
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enable_temporal_filter: false
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# -enable_hole_filling_filter
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enable_hole_filling_filter: false
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# -noise_removal_filter_min_diff
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noise_removal_filter_min_diff: 256
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# -noise_removal_filter_max_size
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noise_removal_filter_max_size: 80
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# -enable_soft_filter
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enable_soft_filter: true
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leftir:
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# the left IR image will not be enabled
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enable_left_ir: false
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rightir:
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# the right IR image will not be enabled
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enable_right_ir: false
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imu:
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# If true, the IMU accelerometer data will be enabled
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enable_accel: false
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# 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.
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# The specific value depends on the current camera.
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accel_rate: "200hz"
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# The range of the accelerometer, the optional values are 2g, 4g, 8g, 16g. The specific value depends on the current camera.
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accel_range: "4g"
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# If true, the IMU gyroscope data will be enabled
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enable_gyro: false
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# 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.
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# The specific value depends on the current camera.
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gyro_rate: "200hz"
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# 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.
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gyro_range: "1000dps"
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# enable_sync_output_accel_gyro
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enable_sync_output_accel_gyro: false
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point_cloud:
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# enable point cloud. {fase:disable, true:enable}
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enable_point_cloud: true
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# enable color point cloud. {fase:disable, true:enable}
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enable_colored_point_cloud: false
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advanced:
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# If true, the extrinsics publish will be enabled
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enable_publish_extrinsic: false
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# If true, the frame synchronization will be enabled
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enable_frame_sync: true
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# global, device, system
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time_domain: "device"
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# Publish D2C superimposed image (only for testing).
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enable_d2c_viewer: false
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# the host time will be synchronized with the device time
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enable_sync_host_time: true
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device_sync:
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# Device synchronization mode. supports: {1.FREE_RUN 2.STANDALONE 3.PRIMARY 4.SECONDARY 5.SECONDARY_SYNCED 6.SOFTWARE_TRIGGERING 7.HARDWARE_TRIGGERING}.
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# For details, Please refer to the OBMultiDeviceSyncMode-related comments in SDK/include/libobsensor/ObTypes.h for a detailed explanation of each mode.
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sync_mode: "STANDALONE"
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# The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
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# For details, Please refer to the OBMultiDeviceSyncConfig-related comments in SDK/include/libobsensor/ObTypes.h
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depth_delay_us: 0
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# The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.
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color_delay_us: 0
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# The delay time of the image capture after receiving the capture command or trigger signal in microseconds.
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trigger2image_delay_us: 0
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# Trigger signal output enable flag.
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trigger_out_enabled: true
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# The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds.
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trigger_out_delay_us: 0
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# The frame number of each stream after each trigger in triggering mode.
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frames_per_trigger: 2
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# software trigger period in ms
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software_trigger_period: 33
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gmsldevice_trigger:
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enable_gmsl_trigger: false
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gmsl_trigger_fps: 3000
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# config for interleave mode。
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# interleave_ae_mode is currently supported by the gemini330 series,
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# and specific products can be checked for support of interleave_ae_mode by referring to the product manual.
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interleave_ae_mode:
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# 'hdr' or 'laser'
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interleave_ae_mode: "laser"
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#enable interleave frame
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interleave_frame_enable: false
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interleave_skip:
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#enable interleave skip
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interleave_skip_enable: false
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# 0:skip pattern ir 1: skip flood ir
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interleave_skip_index: 1
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interleave_hdr_param:
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hdr_index1_laser_control: 1
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hdr_index1_depth_exposure: 1
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hdr_index1_depth_gain: 16
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hdr_index1_ir_brightness: 20
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hdr_index1_ir_ae_max_exposure: 2000
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hdr_index0_laser_control: 1
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hdr_index0_depth_exposure: 7500
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hdr_index0_depth_gain: 16
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hdr_index0_ir_brightness: 60
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hdr_index0_ir_ae_max_exposure: 10000
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interleave_laser_param:
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laser_index1_laser_control: 0
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laser_index1_depth_exposure: 3000
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laser_index1_depth_gain: 16
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laser_index1_ir_brightness: 60
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laser_index1_ir_ae_max_exposure: 17000
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laser_index0_laser_control: 1
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laser_index0_depth_exposure: 3000
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laser_index0_depth_gain: 16
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laser_index0_ir_brightness: 60
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laser_index0_ir_ae_max_exposure: 30000
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