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57 lines
1.3 KiB
YAML
57 lines
1.3 KiB
YAML
# common params
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depth_registration: false
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enable_point_cloud: false
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enable_colored_point_cloud: false
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device_preset: "Default"
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laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
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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: true
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# When 3D reconstruction mode is enabled:
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# - The laser will switch to on-off mode
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# - IR images without the laser will be used for SLAM localization
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# - Depth images with the laser will be used because they provide better depth quality
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enable_3d_reconstruction_mode: false
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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: 480
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color_fps: 60
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color_format: "YUYV"
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enable_color_auto_exposure: false
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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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# depth params
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depth_width: 640
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depth_height: 480
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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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# ir exposure
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enable_ir_auto_exposure: true
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ir_exposure: -1
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ir_gain: -1
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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: 480
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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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#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: 480
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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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