python-recorder/example-config.yaml at main · AcousticOdometry/python-recorder · GitHub

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microphone:
  # A microphone configuration should match the call signature of
  # `sounddevice.InputStream` as it will be used on the call, except for three
  # additional parameters: `name`, `index` and `samplewidth`
  # https://python-sounddevice.readthedocs.io/en/0.4.4/api/streams.html#sounddevice.InputStream

  0: # Device index
    name: Realtek HD Audio Mic input # Optional, human-readable device_id
    index: 17 # device_id
    channels: 2
    samplerate: 44100.0
    samplewidth: 2 # Sample width in bytes when stored in the `wav` file
realsense:
  0:
    name: Intel RealSense D435I
    description: The camera is placed facing forwards parallel to the ground
    serial_number: '918512073836'
    streams:
      Accel:
        format: motion_xyz32f
        framerate: 63
        intrinsics:
        - - 1.0
          - 0.0
          - 0.0
          - 0.0
        - - 0.0
          - 1.0
          - 0.0
          - 0.0
        - - 0.0
          - 0.0
          - 1.0
          - 0.0
        type: accel
      Color:
        coeffs:
        - 0.0
        - 0.0
        - 0.0
        - 0.0
        - 0.0
        format: rgb8
        framerate: 30
        fx: 921.0354614257812
        fy: 921.243408203125
        height: 720
        model: inverse_brown_conrady
        ppx: 645.3656616210938
        ppy: 357.691650390625
        type: color
        width: 1280
      Depth:
        coeffs:
        - 0.0
        - 0.0
        - 0.0
        - 0.0
        - 0.0
        format: z16
        framerate: 30
        fx: 422.5686950683594
        fy: 422.5686950683594
        height: 480
        model: brown_conrady
        ppx: 427.68402099609375
        ppy: 239.21221923828125
        type: depth
        width: 848
      Gyro:
        format: motion_xyz32f
        framerate: 200
        intrinsics:
        - - 1.0
          - 0.0
          - 0.0
          - 0.0
        - - 0.0
          - 1.0
          - 0.0
          - 0.0
        - - 0.0
          - 0.0
          - 1.0
          - 0.0
        type: gyro