Fix the problem of interleave frame asynchronization in interleave frame multi-machine synchronization

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
 

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
 

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('use_intra_process_comms', default_value='false'),
-        DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
+        DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
-        DeclareLaunchArgument('disparity_offset_config', default_value='false'),
+        DeclareLaunchArgument('attach_component_container_name', default_value='orbbec_container'),
-        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('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
-        DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
+        DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
-        DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
+        DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
-        DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir  1: skip flood ir
+        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_index1_ir_ae_max_exposure', default_value='10000'),
-        DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
+        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('laser_index0_ir_ae_max_exposure', default_value='7500'),
-        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'),
     ]
 
     def get_params(context, args):