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https://github.com/orbbec/OrbbecSDK_ROS2.git
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130 lines
6.3 KiB
YAML
130 lines
6.3 KiB
YAML
# config/*.yaml files are used to configure the camera parameters
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#
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# For Femto Mega and Femto Bolt devices, Configuration of depth NFOV and WFOV modes.
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# NFOV and WFOV modes are achieved by configuring the resolution of Depth and IR in the startup file.
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# In the startup file, depth_width, depth_height, ir_width, ir_height represent the resolution of depth and the resolution of IR, respectively.
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# The frame rate and resolution of IR must be consistent with depth. The corresponding relationship between different modes and resolution is as follows:
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# • NFOV unbinned: 640 x 576.
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# • NFOV binned: 320 x 288.
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# • WFOV unbinned: 1024 x 1024.
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# • WFOV binned: 512 x 512.
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#
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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: "femtobolt"
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# Path to the configuration file. If empty, default parameters will be used
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config_file_path: "femtobolt.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: 100
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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: 1280
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# Height of the color image. If 0, the default height will be used
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color_height: 720
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# If 0, the default FPS will be used
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color_fps: 30
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# Format of the color image.
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color_format: "MJPG"
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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: 640
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# Height of the depth image. If 0, the default height will be used
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depth_height: 576
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# If 0, the default FPS will be used
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depth_fps: 30
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# Format of the depth image.
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depth_format: "Y16"
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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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# Depth registration mode.
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depth_registration: false
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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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filter:
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soft_filter:
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# If false, the soft filter will not be enabled
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enable_soft_filter: true
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# The maximum difference between the current and previous depth frame to be considered valid
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soft_filter_max_diff: -1
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# The size of the speckle to be filtered out
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soft_filter_speckle_size: -1
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ir:
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# If false, the left IR image will not be enabled
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enable_ir: true
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# Width of the left IR image. If 0, the default width will be used
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ir_width: 640
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# Height of the left IR image. If 0, the default height will be used
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ir_height: 576
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# If 0, the default FPS will be used
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ir_fps: 30
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# Format of the left IR image. Supported formats are 'Y8'
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ir_format: "Y16"
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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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# Rate of the
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accel_rate: "200hz"
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# Range of the accelerometer.
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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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# Rate of the gyroscope.
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gyro_rate: "200hz"
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# Range of the gyroscope.
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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: true
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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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# If true, Overlay display of color image and depth image after D2C processing will be enabled
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enable_d2c_viewer: false
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# If false, the hardware time will not be used
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use_hardware_time: true
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# If false, the host time will not be synchronized with the device time
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enable_sync_host_time: false
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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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