Remove enable_3d_reconstruction_mode param

README.MD

@@ -434,8 +434,6 @@ The following are the launch parameters available:
   attempt to reset the camera up to three times. This setting aims to prevent USB 3.0 devices from being incorrectly
   recognized as USB 2.0. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid
   unnecessary resets.
-- `enable_3d_reconstruction_mode`: Enables 3D reconstruction mode. Default is `false`. When set to `true`, the camera
-  laser operates in on-off mode, capturing IR images (laser off) for VSLAM localization and depth images (laser on) for point cloud computation.
 - `tf_publish_rate`: The rate at which the camera publishes dynamic transforms. The default value is `0.0`, which means static transforms are published.
 - `time_domain`: The frame time domain, string type, can be `device`, `global`, or `system`. `device` means using the hardware timestamp from the camera,
   `system` means using the timestamp when the PC received the first packet of data or frame, and `global` is used for synchronized time across multiple

orbbec_camera/config/common.yaml

@@ -366,8 +366,6 @@ orbbec_ros:
             ir_info_url: ""
             # URL of the color image info
             color_info_url: ""
-            # If true, the 3D reconstruction mode will be enabled
-            enable_3d_reconstruction_mode: false
             # Diagnostic period in seconds
             diagnostic_period: 1.0
 

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -594,7 +594,6 @@ class OBCameraNode {
   uint32_t depth_xy_table_data_size_ = 0;
   uint8_t* depth_point_cloud_buffer_ = nullptr;
   uint32_t depth_point_cloud_buffer_size_ = 0;
-  bool enable_3d_reconstruction_mode_ = false;
   int min_depth_limit_ = 0;
   int max_depth_limit_ = 0;
   std::string time_domain_ = "device";  // device, system, global

orbbec_camera/launch/gemini_330_series.launch.py

@@ -166,7 +166,6 @@ def generate_launch_description():
         DeclareLaunchArgument('device_preset', default_value='Default'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
-        DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
         DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
         DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),

orbbec_camera/launch/gemini_intra_process_demo_launch.py

@@ -161,7 +161,6 @@ def generate_launch_description():
         DeclareLaunchArgument('device_preset', default_value='Default'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
-        DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
         DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
         DeclareLaunchArgument('time_domain', default_value='device'),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),

orbbec_camera/src/ob_camera_node.cpp

@@ -1251,8 +1251,6 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<bool>(retry_on_usb3_detection_failure_, "retry_on_usb3_detection_failure",
                                false);
   setAndGetNodeParameter<int>(laser_energy_level_, "laser_energy_level", -1);
-  setAndGetNodeParameter<bool>(enable_3d_reconstruction_mode_, "enable_3d_reconstruction_mode",
-                               false);
   setAndGetNodeParameter<int>(min_depth_limit_, "min_depth_limit", 0);
   setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
   setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);