diff --git a/orbbec_camera/config/camera_params.yaml b/orbbec_camera/config/camera_params.yaml index 3d06273e..0fb78692 100644 --- a/orbbec_camera/config/camera_params.yaml +++ b/orbbec_camera/config/camera_params.yaml @@ -34,7 +34,7 @@ depth_qos: "sensor_data" depth_camera_info_qos: "sensor_data" # ir exposure -enable_ir_auto_exposure: false +enable_ir_auto_exposure: true ir_exposure: 5000 ir_gain: 40 diff --git a/orbbec_camera/config/camera_secondary_params.yaml b/orbbec_camera/config/camera_secondary_params.yaml index 894e625d..491250cd 100644 --- a/orbbec_camera/config/camera_secondary_params.yaml +++ b/orbbec_camera/config/camera_secondary_params.yaml @@ -35,7 +35,7 @@ depth_qos: "sensor_data" depth_camera_info_qos: "sensor_data" # ir exposure -enable_ir_auto_exposure: false +enable_ir_auto_exposure: true ir_exposure: 5000 ir_gain: 40 diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py index 22befe13..89f54930 100644 --- a/orbbec_camera/launch/gemini_330_series.launch.py +++ b/orbbec_camera/launch/gemini_330_series.launch.py @@ -57,7 +57,6 @@ def generate_launch_description(): DeclareLaunchArgument('serial_number', default_value=''), DeclareLaunchArgument('usb_port', default_value=''), DeclareLaunchArgument('device_num', default_value='1'), - DeclareLaunchArgument('preset_firmware_path', default_value=''), DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2 DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('enable_point_cloud', default_value='true'), @@ -71,26 +70,13 @@ def generate_launch_description(): 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_priority', default_value='false'), DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), - DeclareLaunchArgument('color_ae_roi_left', default_value='-1'), - DeclareLaunchArgument('color_ae_roi_right', default_value='-1'), - DeclareLaunchArgument('color_ae_roi_top', default_value='-1'), - DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'), 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('color_sharpness', default_value='-1'), - DeclareLaunchArgument('color_gamma', default_value='-1'), - DeclareLaunchArgument('color_saturation', default_value='-1'), - DeclareLaunchArgument('color_constrast', default_value='-1'), - DeclareLaunchArgument('color_hue', default_value='-1'), - DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'), - DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'), - DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('depth_width', default_value='0'), DeclareLaunchArgument('depth_height', default_value='0'), DeclareLaunchArgument('depth_fps', default_value='0'), @@ -98,12 +84,6 @@ def generate_launch_description(): DeclareLaunchArgument('enable_depth', default_value='true'), DeclareLaunchArgument('depth_qos', default_value='default'), DeclareLaunchArgument('depth_camera_info_qos', default_value='default'), - DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'), - DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'), - DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'), - DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'), - DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'), - DeclareLaunchArgument('depth_brightness', default_value='-1'), DeclareLaunchArgument('left_ir_width', default_value='0'), DeclareLaunchArgument('left_ir_height', default_value='0'), DeclareLaunchArgument('left_ir_fps', default_value='0'), @@ -111,8 +91,6 @@ def generate_launch_description(): DeclareLaunchArgument('enable_left_ir', default_value='false'), DeclareLaunchArgument('left_ir_qos', default_value='default'), DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), - DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('right_ir_width', default_value='0'), DeclareLaunchArgument('right_ir_height', default_value='0'), DeclareLaunchArgument('right_ir_fps', default_value='0'), @@ -120,8 +98,6 @@ def generate_launch_description(): 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_right_ir_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'), DeclareLaunchArgument('ir_exposure', default_value='-1'), DeclareLaunchArgument('ir_gain', default_value='-1'), @@ -140,18 +116,11 @@ def generate_launch_description(): DeclareLaunchArgument('tf_publish_rate', default_value='0.0'), DeclareLaunchArgument('ir_info_url', default_value=''), DeclareLaunchArgument('color_info_url', default_value=''), - # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices - # If you do not want to automatically enumerate network devices, - # you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090 - DeclareLaunchArgument("enumerate_net_device", default_value="false"), - DeclareLaunchArgument("net_device_ip", default_value=""), - DeclareLaunchArgument("net_device_port", default_value="0"), 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('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'), @@ -170,7 +139,6 @@ def generate_launch_description(): DeclareLaunchArgument('enable_hdr_merge', default_value='false'), DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), DeclareLaunchArgument('enable_threshold_filter', default_value='false'), - DeclareLaunchArgument('enable_hardware_noise_removal_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'), @@ -179,7 +147,6 @@ def generate_launch_description(): DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('threshold_filter_max', default_value='-1'), DeclareLaunchArgument('threshold_filter_min', default_value='-1'), - DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'), 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'), @@ -200,23 +167,22 @@ def generate_launch_description(): DeclareLaunchArgument('device_preset', default_value='Default'), 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='global'),# global, device, system + DeclareLaunchArgument('time_domain', default_value='global'), DeclareLaunchArgument('enable_color_undistortion', default_value='false'), DeclareLaunchArgument('config_file_path', default_value=''), DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'), DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'), - DeclareLaunchArgument('disparity_range_mode', default_value='-1'), - DeclareLaunchArgument('disparity_search_offset', default_value='-1'), - DeclareLaunchArgument('disparity_offset_config', default_value='false'), - DeclareLaunchArgument('offset_index0', default_value='-1'), - DeclareLaunchArgument('offset_index1', default_value='-1'), - DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame、color_frame、ANY or disable + DeclareLaunchArgument('use_intra_process_comms', default_value='false'), + DeclareLaunchArgument('attach_component_container_enable', default_value='false'), + DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'), + DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' - DeclareLaunchArgument('interleave_frame_enable', default_value='false'), - DeclareLaunchArgument('interleave_skip_enable', default_value='false'), - DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir + DeclareLaunchArgument('interleave_frame_enable', default_value='true'), + DeclareLaunchArgument('interleave_skip_enable', default_value='true'), + DeclareLaunchArgument('interleave_skip_index', default_value='0'), # 0:skip pattern ir 1: skip flood ir DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'), @@ -229,19 +195,17 @@ def generate_launch_description(): DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'), - DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param + DeclareLaunchArgument('laser_index1_laser_control', default_value='1'),#interleave_laser_param DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'), DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'), - DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'), - DeclareLaunchArgument('laser_index0_laser_control', default_value='1'), + DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='10000'), + DeclareLaunchArgument('laser_index0_laser_control', default_value='0'), DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'), DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'), DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'), - DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'), - DeclareLaunchArgument('use_intra_process_comms', default_value='false'), - DeclareLaunchArgument('attach_component_container_enable', default_value='false'), - DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'), + DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='7500'), + ] def get_params(context, args):