From 59a49f1623f272d35e71553335dcd8f8ce64df8f Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 8 Jun 2021 10:54:44 +0200
Subject: [PATCH] Add realsense top config yaml

---
 config/ana_realsense_top_config.yaml | 21 +++++++++++++++++++++
 1 file changed, 21 insertions(+)
 create mode 100644 config/ana_realsense_top_config.yaml

diff --git a/config/ana_realsense_top_config.yaml b/config/ana_realsense_top_config.yaml
new file mode 100644
index 0000000..f3322cb
--- /dev/null
+++ b/config/ana_realsense_top_config.yaml
@@ -0,0 +1,21 @@
+rate: 60.0
+horizontal_fov: 1.047
+image_width: 640
+image_height: 480
+image_format: 'R8G8B8'
+clip_near: 0.2
+clip_far: 100.0
+noise_type: 'gaussian'
+noise_mean: 0.0
+noise_stddev: 0.007
+image_topic_name: '/ana/sensors/nav_cam_top/color/image_raw'
+camera_info_topic_name: '/ana/sensors/nav_cam_top/color/camera_info'
+depth_image_topic_name: '/ana/sensors/nav_cam_top/depth/image_rect_raw'
+point_cloud_topic_name: '/ana/sensors/nav_cam_top/depth_registered/points'
+depth_image_camera_info_topic_name: '/ana/sensors/nav_cam_top/depth/camera_info'
+point_cloud_cut_off: 0.4
+hack_baseline: 0.007
+cx_prime: 0.0
+cx: 0.0
+cy: 0.0
+focal_length: 0.0
-- 
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