diff --git a/orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py b/orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py index 1480001c..229b8ccd 100644 --- a/orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py +++ b/orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py @@ -119,7 +119,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('sync_mode', default_value='standalone'), DeclareLaunchArgument('depth_delay_us', default_value='0'), diff --git a/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py b/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py index a0482925..dbaad6a6 100644 --- a/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py +++ b/orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py @@ -150,7 +150,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('ldp_power_level', default_value='-1'), DeclareLaunchArgument('sync_mode', default_value='standalone'), diff --git a/orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py b/orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py index ece231d9..f7173a0f 100644 --- a/orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py +++ b/orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py @@ -119,7 +119,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('sync_mode', default_value='standalone'), DeclareLaunchArgument('depth_delay_us', default_value='0'), diff --git a/orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py b/orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py index 8ef88954..acf92662 100644 --- a/orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py +++ b/orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py @@ -150,7 +150,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('ldp_power_level', default_value='-1'), DeclareLaunchArgument('sync_mode', default_value='standalone'), diff --git a/orbbec_camera/launch/dabai_a.launch.py b/orbbec_camera/launch/dabai_a.launch.py index 92f124aa..4890fb6c 100644 --- a/orbbec_camera/launch/dabai_a.launch.py +++ b/orbbec_camera/launch/dabai_a.launch.py @@ -134,7 +134,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('ldp_power_level', default_value='-1'), DeclareLaunchArgument('sync_mode', default_value='standalone'), diff --git a/orbbec_camera/launch/dabai_al.launch.py b/orbbec_camera/launch/dabai_al.launch.py index 92f124aa..4890fb6c 100644 --- a/orbbec_camera/launch/dabai_al.launch.py +++ b/orbbec_camera/launch/dabai_al.launch.py @@ -134,7 +134,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('ldp_power_level', default_value='-1'), DeclareLaunchArgument('sync_mode', default_value='standalone'), diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py index a58d6785..9ab9de30 100644 --- a/orbbec_camera/launch/gemini2.launch.py +++ b/orbbec_camera/launch/gemini2.launch.py @@ -84,6 +84,7 @@ 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('disaparity_to_depth_mode', default_value='SW'), DeclareLaunchArgument("enable_ldp", default_value="true"), DeclareLaunchArgument('enable_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_threshold_filter', default_value='false'), diff --git a/orbbec_camera/launch/gemini2L.launch.py b/orbbec_camera/launch/gemini2L.launch.py index cd20e4d2..863e29ca 100644 --- a/orbbec_camera/launch/gemini2L.launch.py +++ b/orbbec_camera/launch/gemini2L.launch.py @@ -76,6 +76,7 @@ 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('disaparity_to_depth_mode', default_value='SW'), DeclareLaunchArgument("enable_ldp", default_value="true"), DeclareLaunchArgument('enable_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_threshold_filter', default_value='false'), diff --git a/orbbec_camera/launch/gemini435_le.launch.py b/orbbec_camera/launch/gemini435_le.launch.py index a3b3d549..ffcbb2d2 100644 --- a/orbbec_camera/launch/gemini435_le.launch.py +++ b/orbbec_camera/launch/gemini435_le.launch.py @@ -167,7 +167,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('ldp_power_level', default_value='-1'), DeclareLaunchArgument('sync_mode', default_value='standalone'), diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py index 40e8ce5c..41aacac3 100644 --- a/orbbec_camera/launch/gemini_330_series.launch.py +++ b/orbbec_camera/launch/gemini_330_series.launch.py @@ -168,7 +168,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('ldp_power_level', default_value='-1'), DeclareLaunchArgument('sync_mode', default_value='standalone'), diff --git a/orbbec_camera/launch/gemini_intra_process_demo_launch.py b/orbbec_camera/launch/gemini_intra_process_demo_launch.py index cbb915b2..01cfa986 100644 --- a/orbbec_camera/launch/gemini_intra_process_demo_launch.py +++ b/orbbec_camera/launch/gemini_intra_process_demo_launch.py @@ -113,7 +113,7 @@ 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('disaparity_to_depth_mode', default_value='true'), + DeclareLaunchArgument('disaparity_to_depth_mode', default_value='HW'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('sync_mode', default_value='standalone'), DeclareLaunchArgument('depth_delay_us', default_value='0'),