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Merge remote-tracking branch 'origin/feat/image-qos-color-queue' into v2/develop

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ob-yalian
2026-08-20 18:27:26 +08:00
parent 406068fe5e 760634fdab
commit 252ec5bf75
25 changed files with 492 additions and 56 deletions
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orbbec_camera/launch/gemini_301_series.launch.py
+15
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@@ -112,6 +112,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('left_color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('right_color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color
DeclareLaunchArgument('ae_strategy', default_value='motion'), # default or motion
DeclareLaunchArgument('color_width', default_value='848'),
@@ -120,6 +123,12 @@ def generate_launch_description():
DeclareLaunchArgument('color_format', default_value='YUYV'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_qos_history', default_value='default'),
DeclareLaunchArgument('color_qos_depth', default_value='-1'),
DeclareLaunchArgument('left_color_qos_history', default_value='default'),
DeclareLaunchArgument('left_color_qos_depth', default_value='-1'),
DeclareLaunchArgument('right_color_qos_history', default_value='default'),
DeclareLaunchArgument('right_color_qos_depth', default_value='-1'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
@@ -156,6 +165,8 @@ def generate_launch_description():
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_qos_history', default_value='default'),
DeclareLaunchArgument('depth_qos_depth', default_value='-1'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('depth_precision', default_value=''),
@@ -174,6 +185,8 @@ def generate_launch_description():
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('left_ir_flip', default_value='false'),
@@ -187,6 +200,8 @@ def generate_launch_description():
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('right_ir_flip', default_value='false'),