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1.更新orbbecSDK 1.9.1;2.gemini2增加深度滤波配置功能;3.增加IMU同时输出topic.

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lixiaobin
2023-12-20 17:56:37 +08:00
parent 9ddd0a764b
commit 3fd37a7ce5
40 changed files with 1264 additions and 294 deletions
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orbbec_camera/launch/gemini2.launch.py
+3 -3
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@@ -49,6 +49,7 @@ def generate_launch_description():
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
@@ -66,9 +67,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
# Configure the path for depth filter file, for example: /config/depthfilter/Openni_device.json
DeclareLaunchArgument('depth_filter_config', default_value=''),
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default