mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-13 19:40:19 +08:00
86 lines
2.5 KiB
YAML
86 lines
2.5 KiB
YAML
# config/*.yaml files are used to configure the camera parameters
|
|
---
|
|
orbbec_ros:
|
|
camera_parameters:
|
|
general:
|
|
# Camera model. upport product models by referencing config/*.yaml
|
|
camera_model: "femto_bolt"
|
|
# Path to the configuration file. If empty, default parameters will be used
|
|
config_file_path: "femto_bolt.yaml"
|
|
|
|
deivce:
|
|
camera_name: "camera"
|
|
serial_number: ""
|
|
usb_port: ""
|
|
device_num: 1
|
|
uvc_backend: "libuvc"
|
|
product_id: ""
|
|
connection_delay: 100
|
|
time_domain: "global"
|
|
enable_heartbeat: false
|
|
enable_ldp: true
|
|
|
|
color:
|
|
enable_color: true
|
|
color_qos: "default"
|
|
color_camera_info_qos: "default"
|
|
color_width: 1280
|
|
color_height: 720
|
|
color_fps: 30
|
|
color_format: "MJPG"
|
|
enable_color_auto_white_balance: true
|
|
color_white_balance: -1
|
|
color_auto_ae:
|
|
enable_color_auto_exposure: true
|
|
color_ae_max_exposure: -1
|
|
color_manual_ae:
|
|
color_exposure: -1
|
|
color_gain: -1
|
|
color_brightness: -1
|
|
|
|
depth:
|
|
enable_depth: true
|
|
depth_qos: "default"
|
|
depth_camera_info_qos: "default"
|
|
depth_width: 640
|
|
depth_height: 576
|
|
depth_fps: 30
|
|
depth_format: "Y16"
|
|
depth_registration: false
|
|
align_mode: "SW"
|
|
ir:
|
|
enable_ir: true
|
|
ir_qos: "default"
|
|
ir_camera_info_qos: "default"
|
|
ir_width: 640
|
|
ir_height: 576
|
|
ir_fps: 30
|
|
ir_format: "Y16"
|
|
|
|
ir_parameters:
|
|
enable_ir_auto_exposure: true
|
|
ir_ae_max_exposure: -1
|
|
ir_exposure: -1
|
|
ir_gain: -1
|
|
ir_brightness: -1
|
|
|
|
imu:
|
|
enable_accel: false
|
|
accel_rate: "200hz"
|
|
accel_range: "4g"
|
|
enable_gyro: false
|
|
gyro_rate: "200hz"
|
|
gyro_range: "1000dps"
|
|
enable_sync_output_accel_gyro: true
|
|
linear_accel_cov: 0.01
|
|
angular_vel_cov: 0.01
|
|
|
|
point_cloud:
|
|
enable_point_cloud: false
|
|
enable_colored_point_cloud: false
|
|
|
|
advanced:
|
|
enable_frame_sync: true
|
|
enable_d2c_viewer: false
|
|
|