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59 lines
1.2 KiB
YAML
59 lines
1.2 KiB
YAML
# common params
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depth_registration: false
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enable_point_cloud: true
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enable_colored_point_cloud: false
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device_preset: "High Accuracy"
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time_domain: "global" # global, device, system
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enable_sync_host_time: true
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frames_per_trigger: 1
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log_level: "warning"
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enable_laser: false
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interleave_frame_enable: true
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interleave_skip_enable: true
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# color params
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enable_color: true
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color_width: 640
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color_height: 360
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color_fps: 60
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color_format: "MJPG"
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enable_color_auto_exposure: true
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color_exposure: 50 # 5ms
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color_gain: -1 # -1 default
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color_qos: "sensor_data"
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color_camera_info_qos: "sensor_data"
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# depth params
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enable_depth: true
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depth_width: 640
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depth_height: 360
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depth_fps: 60
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depth_format: "Y16"
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depth_qos: "sensor_data"
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depth_camera_info_qos: "sensor_data"
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# ir exposure
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enable_ir_auto_exposure: false
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ir_exposure: 5000
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ir_gain: 40
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#left ir params
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enable_left_ir: true
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left_ir_width: 640
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left_ir_height: 360
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left_ir_fps: 60
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left_ir_format: "Y8"
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left_ir_qos: "sensor_data"
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left_ir_camera_info_qos: "sensor_data"
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#right ir params
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enable_right_ir: true
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right_ir_width: 640
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right_ir_height: 360
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right_ir_fps: 60
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right_ir_format: "Y8"
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right_ir_qos: "sensor_data"
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right_ir_camera_info_qos: "sensor_data"
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