Update launch_parameters.md and remove enable_soft_filter param

README.MD

@@ -134,32 +134,22 @@ The following instructions are only applicable to traditional launch files. If y
   - [Table of Contents](#table-of-contents)
   - [Installation Instructions](#installation-instructions)
   - [Getting start](#getting-start)
-  - [Efficient intra-process communication:](#efficient-intra-process-communication)
-    - [Example](#example)
-      - [Manually loading multiple components into the same process](#manually-loading-multiple-components-into-the-same-process)
-      - [Using a launch file](#using-a-launch-file)
-    - [Limitations](#limitations)
-  - [Use V4L2 backend](#use-v4l2-backend)
-  - [Launch parameters](#launch-parameters)
-  - [ROS2(Robot) vs Optical(Camera) Coordination Systems](#ros2robot-vs-opticalcamera-coordination-systems)
-  - [Camera sensor structure](#camera-sensor-structure)
-  - [TF from coordinate A to coordinate B:](#tf-from-coordinate-a-to-coordinate-b)
-  - [Predefined presets](#predefined-presets)
-  - [Depth work mode switch](#depth-work-mode-switch)
-  - [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
-  - [All available service for camera control](#all-available-service-for-camera-control)
-  - [All available topics](#all-available-topics)
   - [Network device enumeration](#network-device-enumeration)
   - [Multi-Camera](#multi-camera)
-  - [Compressed Image](#compressed-image)
+  - [Launch parameters](#launch-parameters)
-  - [Use hardware decoder to decode JPEG](#use-hardware-decoder-to-decode-jpeg)
+  - [All available service for camera control](#all-available-service-for-camera-control)
-    - [rockchip and Amlogic](#rockchip-and-amlogic)
+  - [All available topics](#all-available-topics)
-    - [Nvidia Jetson](#nvidia-jetson)
+  - [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
-  - [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
+  - [Depth work mode switch](#depth-work-mode-switch)
+  - [Predefined presets](#predefined-presets)
+  - [Efficient intra-process communication](#efficient-intra-process-communication)
   - [Building a Debian Package](#building-a-debian-package)
-    - [Preparing the Environment](#preparing-the-environment)
+  - [Use V4L2 backend](#use-v4l2-backend)
-    - [Configuring ROS Dependencies](#configuring-ros-dependencies)
+  - [ROS2(Robot) vs Optical(Camera) Coordination Systems](#ros2robot-vs-opticalcamera-coordination-systems)
-    - [Building the Package](#building-the-package)
+  - [Camera sensor structure](#camera-sensor-structure)
+  - [TF from coordinate A to coordinate B](#tf-from-coordinate-a-to-coordinate-b)
+  - [Compressed Image](#compressed-image)
+  - [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
   - [Supported Devices](#supported-devices)
   - [DDS Tuning](#dds-tuning)
   - [Frequently Asked Questions](#frequently-asked-questions)
@@ -329,7 +319,7 @@ For more information about network device enumeration.Reference:[Network device
 
 When you have multiple cameras, you can activate all of them at the same time.
 
-For more information about Multi camera.Reference:[Multi camera documentation](./docs/network_device_enumeration.md)
+For more information about Multi camera.Reference:[Multi camera documentation](./orbbec_camera/examples/multi_camera/multi_camera.MD)
 
 ## Launch parameters
 
@@ -434,7 +424,7 @@ Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2-
 
 For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
 
-| Product List | Minimal Firmware Version | **Launch File**       |
+| Product List | Minimal Firmware Version | **Launch File**             |
 | :----------- | :----------------------- | :-------------------------- |
 | Gemini 330   | 1.2.20                   | gemini_330_series.launch.py |
 | Gemini 330L  | 1.2.20                   | gemini_330_series.launch.py |

docs/launch_parameters.md

@@ -2,92 +2,212 @@
 
 The following are the launch parameters available:
 
-- `connection_delay`: The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require
+* `camera_name` : Start the node namespace
-  a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.
+
-- `enable_point_cloud`: Enables the point cloud.
+* `depth_registration` : Enables alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`
-- `enable_colored_point_cloud`: Enables the RGB point cloud.
+
-- `cloud_frame_id`:Modifying the frame_id name within the ros message.
+* `serial_number` : The serial number of the camera. This is required when multiple cameras are used
-- `ordered_pc`:Enable filtering of invalid point clouds.
+
-- `point_cloud_qos`, `[color|depth|ir]_qos`, `[color|depth|ir]_camera_info_qos`: ROS 2 Message Quality of Service (QoS)
+* `usb_port` : The USB port of the camera. This is required when multiple cameras are used
-  settings. The possible values
+
-  are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are
+* `device_num` : The number of devices. This must be filled in if multiple cameras are required
-  case-insensitive. These correspond
+
-  to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`,
+* `preset_firmware_path` : The input parameter is the perset firmware path. If multiple paths are input, each path needs to be separated by `,`and a maximum of 3 firmware paths can be input
-  and `SENSOR_DATA`, respectively.
+
-- `enable_d2c_viewer`: Publishes the D2C overlay image (for testing only).
+* `uvc_backend` : Optional values: v4l2, libuvc
-- `device_num`: The number of devices. This must be filled in if multiple cameras are required.
+
-- `uvc_backend`:Optional values: v4l2, libuvc
+* `point_cloud_qos`, `[color|depth|ir]_qos`, `[color|depth|ir]_camera_info_qos`: ROS 2 Message Quality of Service (QoS)
-- `color_width`, `color_height`, `color_fps`: The resolution and frame rate of the color stream.
+
-- `ir_width`, `ir_height`, `ir_fps`: The resolution and frame rate of the IR stream.
+* `enable_point_cloud` : Enables the point cloud
-- `depth_width`, `depth_height`, `depth_fps`: The resolution and frame rate of the depth stream.
+
-- `enable_color`: Enables the RGB camera.
+* `enable_colored_point_cloud` : Enables the RGB point cloud
-- `enable_depth`: Enables the depth camera.
+
-- `enable_ir`: Enables the IR camera.
+* `cloud_frame_id` : Modifying the frame_id name within the ros message
-- `depth_registration`: Enables alignment of the depth frame to the color frame. This field is required when
+
-  the `enable_colored_point_cloud` is set to `true`.
+* `connection_delay` : The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging
-- `usb_port`: The USB port of the camera. This is required when multiple cameras are used.
+
-- `enable_accel`: Enables the accelerometer.
+* `color_width`, `color_height`, `color_fps`,`color_format`: The resolution and frame rate of the color stream
-- `accel_rate`: The frequency of the accelerometer, the optional values
+
-  are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.
+* `enable_color_auto_exposure_priority` : Enables the Color auto exposure priority
-  The specific value depends on the current camera.
+
-- `accel_range`: The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value
+* `enable_color_auto_exposure` : Enables the Color auto exposure
-  depends on the current camera.
+
-- `enable_gyro`: Enables the gyroscope.
+* `color_exposure` : Set the Color exposure
-- `gyro_rate`: The frequency of the gyroscope, the optional values
+
-  are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.
+* `color_gain` :Set the Color gain
-  The specific value depends on the current camera.
+
-- `gyro_range`: The range of the gyroscope, the optional values
+* `enable_color_auto_white_balance` : Enables the Color auto white balance
-  are `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. The specific value depends on the
+
-  current camera.
+* `color_white_balance` : Set the Color white balance
-- `enumerate_net_device`: Enables the function of enumerating network devices. True means enabled, false means disabled.
+
-  This feature is only supported by Femto Mega and Gemini 2 XL devices. When accessing these devices through the
+* `color_ae_max_exposure` : Set the maximum exposure value for Color auto exposure
-  network, the IP address of the device needs to be configured in advance. The enable switch needs to be set to true.
+
-- `depth_filter_config`: Configures the loading path for the depth filtering configuration file. By default, the depth
+* `color_brightness` : Set the Color brightness
-  filtering configuration file is located in the /config/depthfilter directory. Supported only on Gemini2.
+
-- `depth_precision`: The depth precision should be in the format `1mm`. The default value is `1mm`.
+* `color_sharpness` : Set the Color sharpness
-- `enable_laser`: Enables the laser. The default value is `true`.
+
-- `device_preset`: The default value is `Default`. Only the G330 series is supported. For more information, refer to
+* `color_gamma` : Set the Color gamma
-  the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). Please refer to the table below to set
+
-  the `device_preset` value based on your use case. The value should be one of the preset names
+* `color_saturation` : Set the Color saturation
-  listed [in the table](#predefined-presets).
+
-- `enable_decimation_filter`: This filter effectively reduces the depth scene complexity. The filter runs on kernel
+* `color_constrast` : Set the Color constrast
-  sizes [2x2] to [8x8] pixels. The image size is scaled down proportionally in both dimensions to preserve the aspect
+
-  ratio.
+* `color_hue` : Set the Color hue
-- `enable_hdr_merge`: This filter is used jointly with the depth HDR function. By merging consecutive depth images of
+
-  alternating exposure values, we can overcome challenges in acquiring depth values for under-illuminated and
+* `enable_color_backlight_compenstation` : Enables the Color backlight compenstation
-  over-illuminated objects simultaneously.
+
-- `enable_sequence_id_filter`: This filter is used jointly with the depth HDR function and outputs only the sequence
+* `enable_color_decimation_filter` : Enables the Color decimation filter
-  with the specified sequence ID.
+
-- `enable_threshold_filter`: This filter preserves depth values of interest and omits depth values out of scope.
+* `color_decimation_filter_scale` : Set the Color decimation filter scale
-- `enable_noise_removal_filter`: This filter removes speckle noise in clusters and gives rise to a less-filled depth
+
-  map.
+* `depth_width`, `depth_height`, `depth_fps`,`depth_format`: The resolution and frame rate of the depth stream
-- `enable_spatial_filter`: This filter performs multiple iterations of processing as specified by the magnitude
+
-  parameter to enhance the smoothness of depth data. It is also capable of filling small holes in depth maps.
+* `enable_depth_auto_exposure_priority` : Enables the Depth auto exposure priority
-- `enable_temporal_filter`: This filter is intended to improve the depth data persistency by manipulating per-pixel
+
-  values based on previous frames. The filter performs a single pass on the data, adjusting the depth values while also
+* `depth_brightness` : Set the Depth brightness
-  updating the tracking history.
+
-- `enable_hole_filling_filter`: This filter fills all holes in the depth map using the specified mode.
+* `ir_width`, `ir_height`, `ir_fps`,`ir_format`: The resolution and frame rate of the IR stream
-- `retry_on_usb3_detection_failure`: If the camera is connected to a USB 2.0 port and is not detected, the system will
+
-  attempt to reset the camera up to three times. This setting aims to prevent USB 3.0 devices from being incorrectly
+* `enable_ir_auto_exposure` : Enables the IR auto exposure
-  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.
+* `ir_exposure` : Set the IR exposure
-- `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,
+* `ir_gain` : Set the IR gain
-  `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
+
-  devices, aligning data from different sources to a common time base.
+* `ir_ae_max_exposure` : Set the maximum exposure value for IR auto exposure
-- `enable_sync_host_time`: Enables synchronization of the host time with the camera time. The default value is `true`, if
+
-  use global time, set to `false`. Some old devices may not support this feature.
+* `ir_brightness` : Set the IR brightness
-- `config_file_path`: The path to the YAML configuration file. The default value is `""`. If the configuration file is not specified,
+
-  the default parameters from the launch file will be used. If you want to use a custom configuration file, please refer to `gemini_330_series.launch.py`.
+* `enable_sync_output_accel_gyro` : Enables the sync accel_gyro,and output IMU topic real-time data
-  `enable_heartbeat` enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to
+
-  the firmware, and if hardware logging is desired, it should also be set to `true`.
+* `enable_accel` : Enables the Accelerometer,and output Accelerometer info topic data
-- `log_level` : SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal`.
+
-- `enable_color_undistortion`: Enables color undistortion, the default value is `false`. Note that our color cameras exhibit minimal distortion, and typically, undistortion is not necessary.
+* `accel_rate` : The frequency of the accelerometer, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`
-- `interleave_ae_mode` : Set laser or hdr interleave.
+
-- `interleave_frame_enable` : Whether to enable interleave frame mode.
+* `accel_range` : The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value depends on the current camera
-- `interleave_skip_enable` : Whether to enable skip frames.
+
-- `interleave_skip_index` : Set skip pattern IR or flood IR.
+* `enable_gyro` : Enables the gyroscope,and output gyroscope info topic data
-- `[hdr|laser]_index[0|1]_[laser_control|depth_exposure|depth_gain|ir_brightness|ae_max_exposure]`:In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames
+
+* `gyro_rate` : The frequency of the gyroscope, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.The specific value depends on the current camera
+
+* `gyro_range` : The range of the gyroscope, the optional values are `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. The specific value depends on the
+  current camera
+  
+* `liner_accel_cov` : Covariance of the linear acceleration
+
+* `angular_vel_cov` : Covariance of the angular velocity
+
+* `publish_tf` : Enables the TF publish
+
+* `tf_publish_rate` : Set Rate of the TF publication
+
+* `ir_info_url` : Set URL of the IR image info
+
+* `color_info_url` : Set URL of the color image info
+
+* `enumerate_net_device` : Enable automatically enumerate network devices,this parameter is usually used [net camera](./orbbec_camera/examples/net_camera/README.MD)
+
+* `net_device_ip` : Setting net device's IP address,this parameter is usually used [net camera](./orbbec_camera/examples/net_camera/README.MD)
+
+* `net_device_port` : Setting net device's port.Usually, you can set it to 8090,this parameter is usually used [net camera](./orbbec_camera/examples/net_camera/README.MD)
+
+* `log_level` : SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal`
+
+* `enable_publish_extrinsic` : Enables the extrinsics publish
+
+* `enable_d2c_viewer` : Publishes the D2C overlay image (for testing only)
+
+* `enable_hardware_d2d` : false: switch to software disparity convert to depth, true: switch to hardware disparity convert to depth
+
+* `enable_ldp` : Enables the LDP
+
+* `ldp_power_level` : Set power level of the LDP
+
+* `sync_mode` : Set sync mode.The default value is standalone,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
+
+* `depth_delay_us` : The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
+
+* `color_delay_us` : The delay time of the color image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
+
+* `trigger2image_delay_us` : The delay time of the image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
+
+* `trigger_out_delay_us` : The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
+
+* `trigger_out_enabled` : Enables the trigger out signal,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
+
+* `frames_per_trigger` : The frame number of each stream after each trigger in triggering mode,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
+
+* `software_trigger_period` : software trigger period in ms,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
+
+* `enable_frame_sync` : Enables the frame synchronization
+
+* `ordered_pc` : Enable filtering of invalid point clouds
+
+* `enable_depth_scale` : Enables the depth scale
+
+* `enable_decimation_filter` : Enables the Depth decimation filter.The Depth decimation filter setting parameter is `decimation_filter_scale`
+
+* `enable_hdr_merge` : Enables the Depth hdr merge filter.The Depth hdr merge filter setting parameter is `hdr_merge_exposure_1`,`hdr_merge_gain_1`,`hdr_merge_exposure_2`,`hdr_merge_gain_2`
+
+* `enable_sequence_id_filter` : Enables the Depth sequence id filter.The Depth sequence id filter setting parameter is `sequence_id_filter_id`
+
+* `enable_threshold_filter` : Enables the Depth threshold filter.The Depth threshold filter setting parameter is `threshold_filter_max`,`threshold_filter_min`
+
+* `enable_hardware_noise_removal_filter` : Enables the Depth hardware noise removal filter
+
+* `enable_noise_removal_filter` : Enables the Depth software noise removal_filter.The Depth noise removal filter setting parameter is `noise_removal_filter_min_diff`,`noise_removal_filter_max_size`
+
+* `enable_spatial_filter` : Enables the Depth spatial filter.The Depth spatial filter setting parameter is `spatial_filter_alpha`,`spatial_filter_diff_threshold`,`spatial_filter_magnitude`,`spatial_filter_radius`
+
+* `enable_temporal_filter` : Enables the Depth temporal filter.The Depth temporal filter setting parameter is `temporal_filter_diff_threshold`,`temporal_filter_weight`
+
+* `enable_hole_filling_filter` : Enables the Depth hole filling filter.The Depth hole filling filter setting parameter is `hole_filling_filter_mode`
+
+* `align_mode` : The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment
+
+* `diagnostic_period` : Diagnostic period in seconds
+
+* `enable_laser` : Enables the laser. The default value is `true`
+
+* `depth_precision` : The depth precision should be in the format `1mm`. The default value is `1mm`
+
+* `device_preset` : The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). Please refer to the table below to set the `device_preset` value based on your use case. The value should be one of the preset names listed [in the table](#predefined-presets)
+
+* `retry_on_usb3_detection_failure` : If the camera is connected to a USB 2.0 port and is not detected, the system will 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
+
+* `laser_energy_level` : Set the laser energy level
+
+* enable_sync_host_time : Enables synchronization of the host time with the camera time. The default value is `true`, if use global time, Set to `false`. Some old devices may not support this feature
+
+* `time_domain` : Select timestamp type: device , global and system
+
+* `enable_color_undistortion` : Enables the Color undistortion
+
+* `config_file_path` : The path to the YAML configuration file. The default value is `""`. If the configuration file is not specified,the default parameters from the launch file will be used. If you want to use a custom configuration file, please refer to `gemini_330_series.launch.py`.`enable_heartbeat` enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to the firmware, and if hardware logging is desired, it should also be set to `true`
+
+* `enable_heartbeat` : Enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to the firmware, and if hardware logging is desired, it should also be set to `true`
+
+* `gmsl_trigger_fps` : Set gmsl trigger fps,this parameter is usually used [gmsl camera](./orbbec_camera/examples/gmsl_camera/README.MD)
+
+* `enable_gmsl_trigger` : Enables the gmsl trigger out signal,this parameter is usually used [gmsl camera](./orbbec_camera/examples/gmsl_camera/README.MD)
+
+* `disparity_range_mode` : Disparity search length,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD)
+
+* `disparity_search_offset` : Set Disparity search offset value,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD)
+
+* `disparity_offset_config` : Disparity search offset interleave frames,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD)
+
+* `frame_aggregate_mode` : Set frame aggregate output mode.The optional values are `full_frame`,`color_frame`,`ANY`,`disable`
+
+* `interleave_ae_mode` : Set laser or hdr interleave,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
+
+* `interleave_frame_enable` : Whether to enable interleave frame mode,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
+
+* `interleave_skip_enable` : Whether to enable skip frames,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
+
+* `interleave_skip_index` : Set skip pattern IR or flood IR,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
+
+* `[hdr|laser]_index[0|1]_[laser_control|depth_exposure|depth_gain|ir_brightness|ae_max_exposure]`:In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
 
 **IMPORTANT**: *Please carefully read the instructions regarding software filtering settings
 at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -492,7 +492,6 @@ class OBCameraNode {
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr save_point_cloud_srv_;
   std::string depth_filter_config_;
   bool enable_depth_filter_ = false;
-  bool enable_soft_filter_ = true;
   bool enable_color_auto_exposure_priority_ = false;
   bool enable_color_auto_exposure_ = true;
   bool enable_color_auto_white_balance_ = true;
@@ -519,8 +518,6 @@ class OBCameraNode {
   int ir_gain_ = -1;
   int ir_ae_max_exposure_ = -1;
   int ir_brightness_ = -1;
-  int soft_filter_max_diff_ = -1;
-  int soft_filter_speckle_size_ = -1;
   bool enable_frame_sync_ = false;
   // Only for Gemini2 device
   bool enable_hardware_d2d_ = true;

orbbec_camera/launch/gemini_330_series.launch.py

@@ -133,9 +133,6 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
         DeclareLaunchArgument('enable_ldp', default_value='true'),
         DeclareLaunchArgument('ldp_power_level', default_value='-1'),
-        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'),

orbbec_camera/src/ob_camera_node.cpp

@@ -1379,7 +1379,6 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
   setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
   setAndGetNodeParameter<bool>(enable_hardware_d2d_, "enable_hardware_d2d", true);
-  setAndGetNodeParameter<bool>(enable_soft_filter_, "enable_soft_filter", false);
   setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", "");
   if (!depth_filter_config_.empty()) {
     enable_depth_filter_ = true;
@@ -1431,8 +1430,6 @@ void OBCameraNode::getParameters() {
   }
   setAndGetNodeParameter<bool>(enable_ldp_, "enable_ldp", true);
   setAndGetNodeParameter<int>(ldp_power_level_, "ldp_power_level", -1);
-  setAndGetNodeParameter<int>(soft_filter_max_diff_, "soft_filter_max_diff", -1);
-  setAndGetNodeParameter<int>(soft_filter_speckle_size_, "soft_filter_speckle_size", -1);
   setAndGetNodeParameter<double>(liner_accel_cov_, "linear_accel_cov", 0.0003);
   setAndGetNodeParameter<double>(angular_vel_cov_, "angular_vel_cov", 0.02);
   setAndGetNodeParameter<bool>(ordered_pc_, "ordered_pc", false);