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feat: complete DaBai Max Pro launch parameters and update filter logs

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This commit is contained in:
ob-yalian
2026-06-25 16:19:13 +08:00
parent c2aa606cdd
commit 4fb64e07f5
2 changed files with 48 additions and 12 deletions
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orbbec_camera/launch/dabai_max_pro.launch.py
+43 -7
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@@ -34,20 +34,34 @@ def generate_launch_description():
DeclareLaunchArgument('color_fps', default_value='25'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', default_value='false'),
DeclareLaunchArgument('color_flip', default_value='false'),
DeclareLaunchArgument('color_mirror', default_value='false'),
DeclareLaunchArgument('color_rotation', default_value='-1'),
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_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_sharpness', default_value='-1'),
DeclareLaunchArgument('color_gamma', default_value='-1'),
DeclareLaunchArgument('color_saturation', default_value='-1'),
DeclareLaunchArgument('color_contrast', default_value='-1'),
DeclareLaunchArgument('color_backlight_compensation', default_value='-1'),
DeclareLaunchArgument('color_powerline_freq', default_value=''),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y12'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_flip', default_value='false'),
DeclareLaunchArgument('depth_mirror', default_value='false'),
DeclareLaunchArgument('depth_rotation', default_value='-1'),
DeclareLaunchArgument('depth_exposure', default_value='-1'),
DeclareLaunchArgument('depth_gain', default_value='-1'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
# /config/depthfilter/Openni_device.json，need config path.
@@ -57,7 +71,7 @@ def generate_launch_description():
DeclareLaunchArgument('ir_fps', default_value='10'),
DeclareLaunchArgument('ir_format', default_value='Y10'),
DeclareLaunchArgument('enable_ir', default_value='true'),
DeclareLaunchArgument('flip_ir', default_value='false'),
DeclareLaunchArgument('ir_flip', default_value='false'),
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
@@ -72,12 +86,33 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_soft_filter', 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'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
DeclareLaunchArgument('enable_mgc_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_lut_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_disp_outliers_filter', default_value='false'),
DeclareLaunchArgument('disp_outliers_filter_search_mode', default_value='-1'),
DeclareLaunchArgument('enable_edge_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'),
DeclareLaunchArgument('spatial_fast_filter_radius', default_value='-1'),
DeclareLaunchArgument('enable_spatial_moderate_filter', default_value='false'),
DeclareLaunchArgument('spatial_moderate_filter_diff_threshold', default_value='-1'),
DeclareLaunchArgument('spatial_moderate_filter_magnitude', default_value='-1'),
DeclareLaunchArgument('spatial_moderate_filter_radius', default_value='-1'),
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
DeclareLaunchArgument('enable_threshold_filter', default_value='true'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('timestamp_clock_type', default_value=''), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_drop_log', default_value='false'),
@@ -87,6 +122,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_firmware_log', default_value='false'),
]