mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-09-12 19:20:20 +08:00
Add zero copy
This commit is contained in:
jj
@@ -21,9 +21,9 @@
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#define THREAD_NUM 4
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#define OB_ROS_MAJOR_VERSION 1
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#define OB_ROS_MINOR_VERSION 5
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#define OB_ROS_PATCH_VERSION 11
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#define OB_ROS_MAJOR_VERSION 2
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#define OB_ROS_MINOR_VERSION 0
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#define OB_ROS_PATCH_VERSION 2
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#ifndef STRINGIFY
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#define STRINGIFY(arg) #arg
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@@ -63,7 +63,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -71,7 +71,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -12,68 +12,67 @@ import os
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def generate_launch_description():
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# Declare arguments
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args = [
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DeclareLaunchArgument("camera_name", default_value="camera"),
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DeclareLaunchArgument("depth_registration", default_value="false"),
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DeclareLaunchArgument("serial_number", default_value=""),
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DeclareLaunchArgument("usb_port", default_value=""),
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DeclareLaunchArgument("device_num", default_value="1"),
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DeclareLaunchArgument("vendor_id", default_value="0x2bc5"),
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DeclareLaunchArgument("product_id", default_value=""),
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DeclareLaunchArgument("enable_point_cloud", default_value="true"),
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DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
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DeclareLaunchArgument("cloud_frame_id", default_value=""),
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DeclareLaunchArgument("point_cloud_qos", default_value="default"),
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DeclareLaunchArgument("connection_delay", default_value="100"),
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DeclareLaunchArgument("color_width", default_value="640"),
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DeclareLaunchArgument("color_height", default_value="480"),
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DeclareLaunchArgument("color_fps", default_value="30"),
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DeclareLaunchArgument("color_format", default_value="RGB"),
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DeclareLaunchArgument("enable_color", default_value="true"),
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DeclareLaunchArgument("flip_color", default_value="false"),
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DeclareLaunchArgument("color_qos", default_value="default"),
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DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
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DeclareLaunchArgument("color_exposure", default_value="-1"),
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DeclareLaunchArgument("color_gain", default_value="-1"),
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DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
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DeclareLaunchArgument("color_white_balance", default_value="-1"),
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DeclareLaunchArgument("depth_width", default_value="640"),
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DeclareLaunchArgument("depth_height", default_value="480"),
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DeclareLaunchArgument("depth_fps", default_value="30"),
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DeclareLaunchArgument("depth_format", default_value="Y16"),
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DeclareLaunchArgument("enable_depth", default_value="true"),
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DeclareLaunchArgument("flip_depth", default_value="false"),
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DeclareLaunchArgument("depth_qos", default_value="default"),
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DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("ir_width", default_value="640"),
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DeclareLaunchArgument("ir_height", default_value="480"),
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DeclareLaunchArgument("ir_fps", default_value="30"),
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DeclareLaunchArgument("ir_format", default_value="Y16"),
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DeclareLaunchArgument("enable_ir", default_value="true"),
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DeclareLaunchArgument("flip_ir", default_value="false"),
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DeclareLaunchArgument("ir_qos", default_value="default"),
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DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
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DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
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DeclareLaunchArgument("ir_exposure", default_value="-1"),
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DeclareLaunchArgument("ir_gain", default_value="-1"),
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DeclareLaunchArgument("publish_tf", default_value="true"),
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DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
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DeclareLaunchArgument("ir_info_url", default_value=""),
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DeclareLaunchArgument("color_info_url", default_value=""),
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DeclareLaunchArgument("log_level", default_value="none"),
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DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
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DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument("enable_ldp", default_value="true"),
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DeclareLaunchArgument("enable_soft_filter", default_value="true"),
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DeclareLaunchArgument("soft_filter_max_diff", default_value="-1"),
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DeclareLaunchArgument("soft_filter_speckle_size", default_value="-1"),
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DeclareLaunchArgument("ordered_pc", default_value="false"),
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DeclareLaunchArgument("use_hardware_time", default_value="false"),
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DeclareLaunchArgument("enable_depth_scale", default_value="true"),
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DeclareLaunchArgument("align_mode", default_value="HW"),
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DeclareLaunchArgument("laser_energy_level", default_value="-1"),
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DeclareLaunchArgument("enable_heartbeat", default_value="false"),
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='false'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
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DeclareLaunchArgument('product_id', default_value=''),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('connection_delay', default_value='100'),
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DeclareLaunchArgument('color_width', default_value='640'),
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DeclareLaunchArgument('color_height', default_value='480'),
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DeclareLaunchArgument('color_fps', default_value='30'),
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DeclareLaunchArgument('color_format', default_value='RGB'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('flip_color', default_value='false'),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='640'),
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DeclareLaunchArgument('depth_height', default_value='480'),
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DeclareLaunchArgument('depth_fps', default_value='30'),
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DeclareLaunchArgument('depth_format', default_value='Y16'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('flip_depth', default_value='false'),
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DeclareLaunchArgument('depth_qos', default_value='default'),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('ir_width', default_value='640'),
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DeclareLaunchArgument('ir_height', default_value='480'),
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DeclareLaunchArgument('ir_fps', default_value='30'),
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DeclareLaunchArgument('ir_format', default_value='Y16'),
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DeclareLaunchArgument('enable_ir', default_value='true'),
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DeclareLaunchArgument('flip_ir', default_value='false'),
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DeclareLaunchArgument('ir_qos', default_value='default'),
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DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
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DeclareLaunchArgument('ordered_pc', default_value='false'),
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DeclareLaunchArgument('use_hardware_time', default_value='false'),
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DeclareLaunchArgument('enable_depth_scale', default_value='true'),
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DeclareLaunchArgument('align_mode', default_value='HW'),
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DeclareLaunchArgument('laser_energy_level', default_value='-1'),
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DeclareLaunchArgument('enable_heartbeat', default_value='false'),
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]
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# Node configuration
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@@ -63,7 +63,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -63,7 +63,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -63,7 +63,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -63,7 +63,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -72,7 +72,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
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DeclareLaunchArgument('depth_filter_config', default_value=''),
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@@ -63,7 +63,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -66,7 +66,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -62,7 +62,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -72,7 +72,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -72,7 +72,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -78,7 +78,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -72,7 +72,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
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DeclareLaunchArgument('depth_filter_config', default_value=''),
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@@ -72,7 +72,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
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DeclareLaunchArgument('enable_ldp', default_value='true'),
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -70,7 +70,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
|
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DeclareLaunchArgument('enable_ldp', default_value='true'),
|
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DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -80,7 +80,6 @@ def generate_launch_description():
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DeclareLaunchArgument('log_level', default_value='none'),
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DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
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DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
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DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
|
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DeclareLaunchArgument('enable_ldp', default_value='true'),
|
||||
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
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DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
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@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
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def load_yaml(file_path):
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with open(file_path, "r") as f:
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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@@ -29,22 +29,20 @@ def convert_value(value):
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return float(value)
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except ValueError:
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pass
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if value.lower() == "true":
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if value.lower() == 'true':
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return True
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elif value.lower() == "false":
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elif value.lower() == 'false':
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return False
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return value
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def load_parameters(context, args):
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default_params = {
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arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
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}
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config_file_path = LaunchConfiguration("config_file_path").perform(context)
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default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
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config_file_path = LaunchConfiguration('config_file_path').perform(context)
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if config_file_path:
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yaml_params = load_yaml(config_file_path)
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default_params = merge_params(default_params, yaml_params)
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skip_convert = {"config_file_path", "usb_port", "serial_number"}
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skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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return {
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key: (value if key in skip_convert else convert_value(value))
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for key, value in default_params.items()
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@@ -53,126 +51,128 @@ def load_parameters(context, args):
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def generate_launch_description():
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args = [
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DeclareLaunchArgument("camera_name", default_value="camera"),
|
||||
DeclareLaunchArgument("depth_registration", default_value="true"),
|
||||
DeclareLaunchArgument("serial_number", default_value=""),
|
||||
DeclareLaunchArgument("usb_port", default_value=""),
|
||||
DeclareLaunchArgument("device_num", default_value="1"),
|
||||
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
|
||||
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
|
||||
DeclareLaunchArgument("cloud_frame_id", default_value=""),
|
||||
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
|
||||
DeclareLaunchArgument("connection_delay", default_value="10"),
|
||||
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_camera_info_qos", default_value="default"),
|
||||
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
|
||||
DeclareLaunchArgument("color_exposure", default_value="-1"),
|
||||
DeclareLaunchArgument("color_gain", default_value="-1"),
|
||||
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
|
||||
DeclareLaunchArgument("color_white_balance", default_value="-1"),
|
||||
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
|
||||
DeclareLaunchArgument("color_brightness", default_value="-1"),
|
||||
DeclareLaunchArgument("depth_width", default_value="0"),
|
||||
DeclareLaunchArgument("depth_height", default_value="0"),
|
||||
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_camera_info_qos", default_value="default"),
|
||||
DeclareLaunchArgument("left_ir_width", default_value="0"),
|
||||
DeclareLaunchArgument("left_ir_height", default_value="0"),
|
||||
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_camera_info_qos", default_value="default"),
|
||||
DeclareLaunchArgument("right_ir_width", default_value="0"),
|
||||
DeclareLaunchArgument("right_ir_height", default_value="0"),
|
||||
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_camera_info_qos", default_value="default"),
|
||||
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
|
||||
DeclareLaunchArgument("ir_exposure", default_value="-1"),
|
||||
DeclareLaunchArgument("ir_gain", default_value="-1"),
|
||||
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
|
||||
DeclareLaunchArgument("enable_accel", default_value="false"),
|
||||
DeclareLaunchArgument("accel_rate", default_value="200hz"),
|
||||
DeclareLaunchArgument("accel_range", default_value="4g"),
|
||||
DeclareLaunchArgument("enable_gyro", default_value="false"),
|
||||
DeclareLaunchArgument("gyro_rate", default_value="200hz"),
|
||||
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
|
||||
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
|
||||
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
|
||||
DeclareLaunchArgument("publish_tf", default_value="true"),
|
||||
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
|
||||
DeclareLaunchArgument("ir_info_url", default_value=""),
|
||||
DeclareLaunchArgument("color_info_url", default_value=""),
|
||||
DeclareLaunchArgument("log_level", default_value="none"),
|
||||
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
|
||||
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
|
||||
DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
|
||||
DeclareLaunchArgument("enable_ldp", default_value="true"),
|
||||
DeclareLaunchArgument("enable_soft_filter", default_value="true"),
|
||||
DeclareLaunchArgument("soft_filter_max_diff", default_value="-1"),
|
||||
DeclareLaunchArgument("soft_filter_speckle_size", default_value="-1"),
|
||||
DeclareLaunchArgument("sync_mode", default_value="standalone"),
|
||||
DeclareLaunchArgument("depth_delay_us", default_value="0"),
|
||||
DeclareLaunchArgument("color_delay_us", default_value="0"),
|
||||
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
|
||||
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
|
||||
DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
|
||||
DeclareLaunchArgument("frames_per_trigger", default_value="2"),
|
||||
DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
|
||||
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
|
||||
DeclareLaunchArgument("ordered_pc", default_value="false"),
|
||||
DeclareLaunchArgument("use_hardware_time", default_value="true"),
|
||||
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
|
||||
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
|
||||
DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
|
||||
DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
|
||||
DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
|
||||
DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
|
||||
DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
|
||||
DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
|
||||
DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
|
||||
DeclareLaunchArgument("decimation_filter_scale_", default_value="-1"),
|
||||
DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
|
||||
DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
|
||||
DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
|
||||
DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
|
||||
DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
|
||||
DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
|
||||
DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||
DeclareLaunchArgument("hdr_merge_gain_1", default_value="-1"),
|
||||
DeclareLaunchArgument("hdr_merge_exposure_2", default_value="-1"),
|
||||
DeclareLaunchArgument("hdr_merge_gain_2", default_value="-1"),
|
||||
DeclareLaunchArgument("align_mode", default_value="SW"),
|
||||
DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
|
||||
DeclareLaunchArgument("enable_laser", default_value="true"),
|
||||
DeclareLaunchArgument("depth_precision", default_value=""),
|
||||
DeclareLaunchArgument("device_preset", default_value="Default"),
|
||||
DeclareLaunchArgument("laser_on_off_mode", default_value="0"),
|
||||
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"),
|
||||
DeclareLaunchArgument("config_file_path", default_value=""),
|
||||
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
|
||||
DeclareLaunchArgument('camera_name', default_value='camera'),
|
||||
DeclareLaunchArgument('depth_registration', default_value='true'),
|
||||
DeclareLaunchArgument('serial_number', default_value=''),
|
||||
DeclareLaunchArgument('usb_port', default_value=''),
|
||||
DeclareLaunchArgument('device_num', default_value='1'),
|
||||
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
|
||||
DeclareLaunchArgument('enable_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
|
||||
DeclareLaunchArgument('cloud_frame_id', default_value=''),
|
||||
DeclareLaunchArgument('connection_delay', default_value='10'),
|
||||
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_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
|
||||
DeclareLaunchArgument('color_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('color_gain', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
|
||||
DeclareLaunchArgument('color_white_balance', default_value='-1'),
|
||||
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('color_brightness', default_value='-1'),
|
||||
DeclareLaunchArgument('depth_width', default_value='0'),
|
||||
DeclareLaunchArgument('depth_height', default_value='0'),
|
||||
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_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('left_ir_width', default_value='0'),
|
||||
DeclareLaunchArgument('left_ir_height', default_value='0'),
|
||||
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_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('right_ir_width', default_value='0'),
|
||||
DeclareLaunchArgument('right_ir_height', default_value='0'),
|
||||
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_camera_info_qos', default_value='default'),
|
||||
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
|
||||
DeclareLaunchArgument('ir_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_gain', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
|
||||
DeclareLaunchArgument('ir_brightness', default_value='-1'),
|
||||
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
|
||||
DeclareLaunchArgument('enable_accel', default_value='false'),
|
||||
DeclareLaunchArgument('accel_rate', default_value='200hz'),
|
||||
DeclareLaunchArgument('accel_range', default_value='4g'),
|
||||
DeclareLaunchArgument('enable_gyro', default_value='false'),
|
||||
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
|
||||
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
|
||||
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
|
||||
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
|
||||
DeclareLaunchArgument('publish_tf', default_value='true'),
|
||||
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
|
||||
DeclareLaunchArgument('ir_info_url', default_value=''),
|
||||
DeclareLaunchArgument('color_info_url', default_value=''),
|
||||
DeclareLaunchArgument('log_level', default_value='none'),
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
|
||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
||||
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
||||
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
|
||||
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
|
||||
DeclareLaunchArgument('sync_mode', default_value='standalone'),
|
||||
DeclareLaunchArgument('depth_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('color_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
|
||||
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
|
||||
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
|
||||
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
|
||||
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
|
||||
DeclareLaunchArgument('ordered_pc', default_value='false'),
|
||||
DeclareLaunchArgument('use_hardware_time', default_value='true'),
|
||||
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
|
||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
|
||||
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
|
||||
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
|
||||
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
|
||||
DeclareLaunchArgument('decimation_filter_scale_', default_value='-1'),
|
||||
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
|
||||
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
|
||||
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
|
||||
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
|
||||
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
|
||||
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
|
||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
||||
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
|
||||
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
|
||||
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
|
||||
DeclareLaunchArgument('align_mode', default_value='SW'),
|
||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
||||
DeclareLaunchArgument('enable_laser', default_value='true'),
|
||||
DeclareLaunchArgument('depth_precision', default_value=''),
|
||||
DeclareLaunchArgument('device_preset', default_value='Default'),
|
||||
DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
|
||||
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'),
|
||||
DeclareLaunchArgument('config_file_path', default_value=''),
|
||||
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
|
||||
]
|
||||
|
||||
def get_params(context, args):
|
||||
@@ -194,29 +194,28 @@ def generate_launch_description():
|
||||
]
|
||||
else:
|
||||
return [
|
||||
GroupAction(
|
||||
[
|
||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||
ComposableNodeContainer(
|
||||
name="camera_container",
|
||||
namespace="",
|
||||
package="rclcpp_components",
|
||||
executable="component_container",
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package="orbbec_camera",
|
||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||
name=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
),
|
||||
],
|
||||
output="screen",
|
||||
),
|
||||
]
|
||||
)
|
||||
GroupAction([
|
||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||
ComposableNodeContainer(
|
||||
name="camera_container",
|
||||
namespace="",
|
||||
package="rclcpp_components",
|
||||
executable="component_container",
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package="orbbec_camera",
|
||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||
name=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
),
|
||||
],
|
||||
output="screen",
|
||||
)
|
||||
])
|
||||
]
|
||||
|
||||
return LaunchDescription(
|
||||
args
|
||||
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
||||
]
|
||||
)
|
||||
|
||||
@@ -63,7 +63,6 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('log_level', default_value='none'),
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
|
||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
||||
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
||||
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
|
||||
|
||||
@@ -48,7 +48,6 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('log_level', default_value='none'),
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
|
||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
||||
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
||||
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
|
||||
|
||||
@@ -66,7 +66,6 @@ def generate_launch_description():
|
||||
DeclareLaunchArgument('log_level', default_value='none'),
|
||||
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
|
||||
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
|
||||
DeclareLaunchArgument("enable_hardware_d2d", default_value="true"),
|
||||
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
||||
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
|
||||
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
|
||||
|
||||
@@ -379,21 +379,25 @@ void OBCameraNode::setupDevices() {
|
||||
}
|
||||
}
|
||||
|
||||
if (device_->isPropertySupported(OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
|
||||
if (color_ae_max_exposure_ != -1 &&
|
||||
device_->isPropertySupported(OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
|
||||
RCLCPP_INFO_STREAM(logger_, "Setting color AE max exposure to " << color_ae_max_exposure_);
|
||||
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_AE_MAX_EXPOSURE_INT, color_ae_max_exposure_);
|
||||
}
|
||||
if (device_->isPropertySupported(OB_PROP_COLOR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
|
||||
if (color_brightness_ != -1 &&
|
||||
device_->isPropertySupported(OB_PROP_COLOR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
|
||||
RCLCPP_INFO_STREAM(logger_, "Setting color brightness to " << color_brightness_);
|
||||
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_COLOR_BRIGHTNESS_INT, color_brightness_);
|
||||
}
|
||||
// ir ae max
|
||||
if (device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
|
||||
if (ir_ae_max_exposure_ != -1 &&
|
||||
device_->isPropertySupported(OB_PROP_IR_AE_MAX_EXPOSURE_INT, OB_PERMISSION_WRITE)) {
|
||||
RCLCPP_INFO_STREAM(logger_, "Setting IR AE max exposure to " << ir_ae_max_exposure_);
|
||||
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_AE_MAX_EXPOSURE_INT, ir_ae_max_exposure_);
|
||||
}
|
||||
// ir brightness
|
||||
if (device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
|
||||
if (ir_brightness_ != -1 &&
|
||||
device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
|
||||
RCLCPP_INFO_STREAM(logger_, "Setting IR brightness to " << ir_brightness_);
|
||||
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, ir_brightness_);
|
||||
}
|
||||
@@ -2060,9 +2064,14 @@ void OBCameraNode::publishMetadata(const std::shared_ptr<ob::Frame> &frame,
|
||||
void OBCameraNode::saveImageToFile(const stream_index_pair &stream_index, const cv::Mat &image,
|
||||
const sensor_msgs::msg::Image &image_msg) {
|
||||
if (save_images_[stream_index]) {
|
||||
auto now = time(nullptr);
|
||||
auto now = std::chrono::system_clock::now();
|
||||
auto in_time_t = std::chrono::system_clock::to_time_t(now);
|
||||
auto us =
|
||||
std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()) % 1000000;
|
||||
|
||||
std::stringstream ss;
|
||||
ss << std::put_time(localtime(&now), "%Y%m%d_%H%M%S");
|
||||
ss << std::put_time(std::localtime(&in_time_t), "%Y%m%d_%H%M%S");
|
||||
ss << "_" << std::setw(6) << std::setfill('0') << us.count();
|
||||
auto current_path = std::filesystem::current_path().string();
|
||||
auto fps = fps_[stream_index];
|
||||
int index = save_images_count_[stream_index];
|
||||
|
||||
Reference in New Issue
Block a user