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fix: update Gemini 301 launch defaults

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slz
2026-09-11 17:01:28 +08:00
parent 2bf4f00247
commit 0691046db5
1 changed files with 18 additions and 18 deletions
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orbbec_camera/launch/gemini_301_series.launch.py
+18 -18
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@@ -116,11 +116,11 @@ def generate_launch_description():
DeclareLaunchArgument('left_color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('right_color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color
DeclareLaunchArgument('ae_strategy', default_value='motion'), # default or motion
DeclareLaunchArgument('color_width', default_value='848'),
DeclareLaunchArgument('color_height', default_value='530'),
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_format', default_value='YUYV'),
DeclareLaunchArgument('ae_strategy', default_value='default'), # default or motion
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
DeclareLaunchArgument('color_format', default_value='ANY'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_qos_history', default_value='default'),
@@ -158,11 +158,11 @@ def generate_launch_description():
DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising.
#Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support.
DeclareLaunchArgument('depth_width', default_value='848'),
DeclareLaunchArgument('depth_height', default_value='530'),
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
DeclareLaunchArgument('depth_decimation_factor', default_value='1'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('depth_fps', default_value='0'),
DeclareLaunchArgument('depth_format', default_value='ANY'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_qos_history', default_value='default'),
@@ -178,11 +178,11 @@ def generate_launch_description():
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='848'),
DeclareLaunchArgument('left_ir_height', default_value='530'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_decimation_factor', default_value='1'),
DeclareLaunchArgument('left_ir_fps', default_value='30'),
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
@@ -193,11 +193,11 @@ def generate_launch_description():
DeclareLaunchArgument('left_ir_mirror', default_value='false'),
DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('right_ir_width', default_value='848'),
DeclareLaunchArgument('right_ir_height', default_value='530'),
DeclareLaunchArgument('right_ir_width', default_value='0'),
DeclareLaunchArgument('right_ir_height', default_value='0'),
DeclareLaunchArgument('right_ir_decimation_factor', default_value='1'),
DeclareLaunchArgument('right_ir_fps', default_value='30'),
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('right_ir_fps', default_value='0'),
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
@@ -291,7 +291,7 @@ def generate_launch_description():
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_firmware_log', default_value='false'),
DeclareLaunchArgument('enable_fps_boost', default_value='false'),
DeclareLaunchArgument('enable_fps_boost', default_value='true'),
DeclareLaunchArgument('monitor_poll_interval_sec', default_value='-1'),
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),