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Update the data stream configuration of Gemini2 series devices.

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This commit is contained in:
lixiaobin
2023-10-11 09:13:51 +08:00
parent c1d01765a5
commit 1d0d78ceac
5 changed files with 28 additions and 0 deletions
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orbbec_camera/launch/femto_bolt.launch.py
+6
View File
@@ -67,6 +67,12 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
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='false'),
] ]
# Node configuration # Node configuration
orbbec_camera/launch/femto_mega.launch.py
+6
View File
@@ -67,6 +67,12 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
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='false'),
] ]
# Node configuration # Node configuration
orbbec_camera/launch/gemini2.launch.py
+5
View File
@@ -67,6 +67,11 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='free_run'), DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('depth_delay_us', default_value='0'), DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'), DeclareLaunchArgument('color_delay_us', default_value='0'),
orbbec_camera/launch/gemini2L.launch.py
+5
View File
@@ -67,6 +67,11 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='free_run'), DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('depth_delay_us', default_value='0'), DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'), DeclareLaunchArgument('color_delay_us', default_value='0'),
orbbec_camera/launch/gemini2XL.launch.py
+6
View File
@@ -75,6 +75,12 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Dimensioning
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='free_run'), DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('depth_delay_us', default_value='0'), DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'), DeclareLaunchArgument('color_delay_us', default_value='0'),