fix: remove deprecated launch arguments for network device and laser control in gemini305.launch.py

orbbec_camera/config/gemini305_dual_color.yaml

@@ -41,7 +41,7 @@ disparity_offset_config: false
 offset_index0: -1
 offset_index1: -1
 frame_aggregate_mode: ANY
-interleave_ae_mode: laser
+interleave_ae_mode: hdr
 interleave_frame_enable: false
 interleave_skip_enable: false
 interleave_skip_index: 1
@@ -108,6 +108,21 @@ color_decimation_filter_scale: -1
 color_denoising_level: -1
 enable_color_undistortion: false
 
+# hdr_params
+hdr_index1_depth_exposure: 1
+hdr_index1_depth_gain: 16
+hdr_index1_ir_brightness: 30
+hdr_index1_ir_ae_max_exposure: 30458
+hdr_index0_depth_exposure: 7500
+hdr_index0_depth_gain: 16
+hdr_index0_ir_brightness: 90
+hdr_index0_ir_ae_max_exposure: 30458
+
+# publishers and transports
+left_color.image_raw.enable_pub_plugins: ["image_transport/compressed", "image_transport/raw", "image_transport/theora"]
+right_color.image_raw.enable_pub_plugins: ["image_transport/compressed", "image_transport/raw", "image_transport/theora"]
+
+# In dual color mode, it is not recommended to change the following parameters
 # depth
 enable_depth: false
 depth_width: 0
@@ -163,6 +178,7 @@ spatial_moderate_filter_magnitude: -1
 spatial_moderate_filter_radius: -1
 
 # point_cloud
+depth_registration: false
 point_cloud_qos: default
 enable_point_cloud: false
 point_cloud_decimation_filter_factor: 1
@@ -237,18 +253,6 @@ enable_frame_sync: true
 noise_removal_filter_min_diff: 256
 noise_removal_filter_max_size: 80
 
-# hdr_params
-hdr_index1_laser_control: 1
-hdr_index1_depth_exposure: 1
-hdr_index1_depth_gain: 16
-hdr_index1_ir_brightness: 30
-hdr_index1_ir_ae_max_exposure: 30458
-hdr_index0_laser_control: 1
-hdr_index0_depth_exposure: 7500
-hdr_index0_depth_gain: 16
-hdr_index0_ir_brightness: 90
-hdr_index0_ir_ae_max_exposure: 30458
-
 # laser_params
 laser_index1_laser_control: 0
 laser_index1_depth_exposure: 3000
@@ -261,19 +265,3 @@ laser_index0_depth_gain: 16
 laser_index0_ir_brightness: 60
 laser_index0_ir_ae_max_exposure: 30000
 
-# publishers and transports
-color_image_transport_plugins:
-  - image_transport/compressed
-  - image_transport/raw
-  - image_transport/theora
-depth_image_transport_plugins:
-  - image_transport/compressedDepth
-  - image_transport/raw
-left_ir_image_transport_plugins:
-  - image_transport/compressed
-  - image_transport/raw
-  - image_transport/theora
-right_ir_image_transport_plugins:
-  - image_transport/compressed
-  - image_transport/raw
-  - image_transport/theora

orbbec_camera/launch/gemini305.launch.py

@@ -211,12 +211,6 @@ def generate_launch_description():
         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='true'),
-        DeclareLaunchArgument('net_device_ip', default_value=''),
-        DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
@@ -224,8 +218,6 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
-        DeclareLaunchArgument('enable_ldp', default_value='true'),
-        DeclareLaunchArgument('ldp_power_level', default_value='-1'),
         DeclareLaunchArgument('sync_mode', default_value='standalone'),
         DeclareLaunchArgument('depth_delay_us', default_value='0'),
         DeclareLaunchArgument('color_delay_us', default_value='0'),
@@ -235,7 +227,6 @@ def generate_launch_description():
         DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
         DeclareLaunchArgument('frames_per_trigger', default_value='2'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
-        DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
@@ -276,51 +267,35 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='SW'),
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
         DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds
-        DeclareLaunchArgument('enable_laser', default_value='true'),
         DeclareLaunchArgument('depth_precision', default_value=''),
         DeclareLaunchArgument('device_preset', default_value='Default'), # Default, High Accuracy, Close Range High Accuracy, Factory Calib, Dual Color Streams, Custom
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
-        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
         DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
         DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
         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('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
+        DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'),
         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('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
         DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
         DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
         DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
         DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
-        DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
         DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
         DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
         DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
         DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
 
-        DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#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_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('show_fps_enable', default_value='false'),
 
         #color image transport plugins
@@ -332,13 +307,6 @@ def generate_launch_description():
         #infra2
         DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
 
-        # Force IP parameters
-        DeclareLaunchArgument("force_ip_enable", default_value="false"),  # Whether to enable Force IP function
-        DeclareLaunchArgument("force_ip_mac", default_value=""),  # If multiple cameras are connected, specify target MAC (e.g. "54:14:FD:06:07:DA")
-        DeclareLaunchArgument("force_ip_address", default_value="192.168.1.10"),  # Static IP address to assign
-        DeclareLaunchArgument("force_ip_subnet_mask", default_value="255.255.255.0"),  # Subnet mask used for static IP
-        DeclareLaunchArgument("force_ip_gateway", default_value="192.168.1.1"),  # Gateway address used for static IP
-
         DeclareLaunchArgument('intra_camera_sync_reference', default_value=""),#Start, Middle or End
 
     ]

orbbec_camera/tools/list_camera_profile.cpp

@@ -32,8 +32,8 @@ void listSensorProfiles(const std::shared_ptr<ob::Device>& device) {
         std::cout << magic_enum::enum_name(sensor->getType()) << " profile: " << profile->getWidth()
                   << "x" << profile->getHeight() << " " << profile->getFps() << "fps "
                   << magic_enum::enum_name(profile->getFormat())
-                  << " | Weight: " << profile->getDecimationConfig().originWidth
+                  << " | width: " << profile->getDecimationConfig().originWidth
-                  << " Height: " << profile->getDecimationConfig().originHeight
+                  << " height: " << profile->getDecimationConfig().originHeight
                   << " downscale:" << profile->getDecimationConfig().factor << std::endl;
       } else if (sensor->getType() == OB_SENSOR_COLOR || sensor->getType() == OB_SENSOR_DEPTH ||
                  sensor->getType() == OB_SENSOR_IR || sensor->getType() == OB_SENSOR_IR_LEFT ||