mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 12:07:46 +08:00
59 lines
1.3 KiB
YAML
59 lines
1.3 KiB
YAML
# common params
|
|
depth_registration: false
|
|
depth_registration: false
|
|
enable_d2c_viewer: false
|
|
enable_point_cloud: false
|
|
enable_colored_point_cloud: false
|
|
device_preset: "High Accuracy"
|
|
laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
|
|
time_domain: "global" # global, device, system
|
|
enable_sync_host_time: false
|
|
frames_per_trigger: 1
|
|
|
|
# When 3D reconstruction mode is enabled:
|
|
# - The laser will switch to on-off mode
|
|
# - IR images without the laser will be used for SLAM localization
|
|
# - Depth images with the laser will be used because they provide better depth quality
|
|
enable_3d_reconstruction_mode: false
|
|
|
|
# color params
|
|
enable_color: true
|
|
color_width: 640
|
|
color_height: 360
|
|
color_fps: 60
|
|
color_format: "MJPG"
|
|
enable_color_auto_exposure: false
|
|
color_exposure: 50 # 5ms
|
|
color_gain: -1 # -1 default
|
|
color_qos: "sensor_data"
|
|
|
|
# depth params
|
|
depth_width: 640
|
|
depth_height: 360
|
|
depth_fps: 60
|
|
depth_format: "Y16"
|
|
depth_qos: "sensor_data"
|
|
|
|
# ir exposure
|
|
enable_ir_auto_exposure: true
|
|
ir_exposure: 5000
|
|
ir_gain: 40
|
|
|
|
#left ir params
|
|
enable_left_ir: true
|
|
left_ir_width: 640
|
|
left_ir_height: 360
|
|
left_ir_fps: 60
|
|
left_ir_format: "Y8"
|
|
left_ir_qos: "sensor_data"
|
|
|
|
#right ir params
|
|
enable_right_ir: true
|
|
right_ir_width: 640
|
|
right_ir_height: 360
|
|
right_ir_fps: 60
|
|
right_ir_format: "Y8"
|
|
right_ir_qos: "sensor_data"
|
|
|
|
|