l515_config.yaml

#camera parameters
name: L515
# for L515, the resolution of rgb is 1280*720, 60fps; 1920*1080, 30fps.
rgb:
  width: 1280
  height: 720
  fps: 30

# the depth and infrared are corresponding, have same resolution
# For D435, the resolution is multi, 640*480, 90fps; 1280*720, 30fps; 1280*800, 30fps
# For L515, the resolution of rgb is 1024*768 or 640*480, and fps is 30
depth_infrared:
  width: 1024
  height: 768
  fps: 30

imu:
  fps: 400


options:
  accuracy : None
  ambient_light : None
  apd_temperature : None
  asic_temperature : None
  auto_exposure_converge_step : None
  auto_exposure_mode : 0
  auto_exposure_priority : None
  avalanche_photo_diode : None
  backlight_compensation : 128 # [0, 255]
  brightness : 0 # [-64, +64]
  color_scheme : None
  confidence_threshold : 0 # [0,3]
  contrast : 50 # [0, 100]
  depth_offset : None
  depth_units : 0.0002500000118743628 # Depth Scale: print(camera.depth_scale)
  emitter_enabled : None
  emitter_on_off : None
  enable_auto_exposure : 1 # option.enable_auto_exposure
  enable_auto_white_balance : None
  enable_dynamic_calibration : None
  enable_map_preservation : None
  enable_mapping : None
  enable_motion_correction : None
  enable_pose_jumping : None
  enable_relocalization : None
  error_polling_enabled : None
  exposure : 5000
  filter_magnitude : None
  filter_option : None
  filter_smooth_alpha : None
  filter_smooth_delta : None
  frames_queue_size : None
  freefall_detection_enabled : None
  gain : 0
  gamma : None
  global_time_enabled : 1
  hardware_preset : None
  histogram_equalization_enabled : None
  holes_fill : None
  hue : 0 # [-180, 180]
  inter_cam_sync_mode : None
  invalidation_bypass : 1 # [true false]
  laser_power : 50 # [0, 100]
  led_power : None
  lld_temperature : None
  ma_temperature : None
  max_distance : None
  mc_temperature : None
  min_distance : 0 # [0, 8_000] in mm
  motion_module_temperature : None
  motion_range : None
  noise_filtering : 6 # [0, 6]
  output_trigger_enabled : None
  post_processing_sharpening : 3 # [0, 3]
  power_line_frequency : None
  pre_processing_sharpening : 5 # [0, 5]
  projector_temperature : None
  saturation : 50 # [0, 100]
  sensor_mode : None
  sharpness : 50 # [0, 100]
  stereo_baseline : None
  stream_filter : None
  stream_format_filter : None
  stream_index_filter : None
  texture_source : None
  total_frame_drops : None
  visual_preset : None
  white_balance : None # [2800, 6500] enable auto
  zero_order_enabled : None
  zero_order_point_x : None
  zero_order_point_y : None


#inner_matrix:
## [fx,s,cx;0,fy,cy;0,0,1]
#  - [500,0,300]
#  - [0,520,200]
#  - [0,0,1]
#distortion_coefficients: [0,0,0,0,0]