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[launch]Add disparity_range_mode param

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jj
2025-01-14 18:48:01 +08:00
parent 640abcb0d1
commit 11c0422bc3
5 changed files with 44 additions and 27 deletions
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orbbec_camera/launch/gemini_330_series.launch.py
+6 -6
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@@ -173,6 +173,12 @@ def generate_launch_description():
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
DeclareLaunchArgument('disparity_search_offset', default_value='0'),
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
DeclareLaunchArgument('offset_index0', default_value='0'),
DeclareLaunchArgument('offset_index1', default_value='0'),
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
@@ -199,12 +205,6 @@ def generate_launch_description():
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
DeclareLaunchArgument('disparity_search_offset', default_value='0'),
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
DeclareLaunchArgument('offset_index0', default_value='0'),
DeclareLaunchArgument('offset_index1', default_value='0'),
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable
]
def get_params(context, args):