From 554147870fc800b447a45873083f29aae5ed19f6 Mon Sep 17 00:00:00 2001
From: lixiaobin <lixiaobin@orbbec.com>
Date: Tue, 2 Jan 2024 16:39:36 +0800
Subject: [PATCH] DCW2,max pro add depth filter config

---
 orbbec_camera/launch/dabai_dw2.launch.py      | 2 ++
 orbbec_camera/launch/dabai_max.launch.py      | 2 ++
 orbbec_camera/launch/dabai_max_pro.launch.py  | 2 ++
 orbbec_camera/launch/gemini_ew.launch.py      | 2 ++
 orbbec_camera/launch/gemini_ew_lite.launch.py | 2 ++
 orbbec_camera/launch/gemini_uw.launch.py      | 2 ++
 6 files changed, 12 insertions(+)

diff --git a/orbbec_camera/launch/dabai_dw2.launch.py b/orbbec_camera/launch/dabai_dw2.launch.py
index 18b8c8bf..d23ceb8e 100644
--- a/orbbec_camera/launch/dabai_dw2.launch.py
+++ b/orbbec_camera/launch/dabai_dw2.launch.py
@@ -29,6 +29,8 @@ def generate_launch_description():
         DeclareLaunchArgument('flip_depth', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
+        # /config/depthfilter/Openni_device.json，need config path.
+        DeclareLaunchArgument('depth_filter_config', default_value=''),
         DeclareLaunchArgument('ir_width', default_value='640'),
         DeclareLaunchArgument('ir_height', default_value='400'),
         DeclareLaunchArgument('ir_fps', default_value='10'),
diff --git a/orbbec_camera/launch/dabai_max.launch.py b/orbbec_camera/launch/dabai_max.launch.py
index 7c7e3506..ba7731d4 100644
--- a/orbbec_camera/launch/dabai_max.launch.py
+++ b/orbbec_camera/launch/dabai_max.launch.py
@@ -29,6 +29,8 @@ def generate_launch_description():
         DeclareLaunchArgument('flip_depth', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
+        # /config/depthfilter/Openni_device.json，need config path.
+        DeclareLaunchArgument('depth_filter_config', default_value=''),
         DeclareLaunchArgument('ir_width', default_value='640'),
         DeclareLaunchArgument('ir_height', default_value='400'),
         DeclareLaunchArgument('ir_fps', default_value='10'),
diff --git a/orbbec_camera/launch/dabai_max_pro.launch.py b/orbbec_camera/launch/dabai_max_pro.launch.py
index ddfa8e4d..be5fa087 100644
--- a/orbbec_camera/launch/dabai_max_pro.launch.py
+++ b/orbbec_camera/launch/dabai_max_pro.launch.py
@@ -40,6 +40,8 @@ def generate_launch_description():
         DeclareLaunchArgument('flip_depth', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
+        # /config/depthfilter/Openni_device.json，need config path.
+        DeclareLaunchArgument('depth_filter_config', default_value=''),
         DeclareLaunchArgument('ir_width', default_value='640'),
         DeclareLaunchArgument('ir_height', default_value='400'),
         DeclareLaunchArgument('ir_fps', default_value='10'),
diff --git a/orbbec_camera/launch/gemini_ew.launch.py b/orbbec_camera/launch/gemini_ew.launch.py
index c9629b3c..7abdea87 100644
--- a/orbbec_camera/launch/gemini_ew.launch.py
+++ b/orbbec_camera/launch/gemini_ew.launch.py
@@ -40,6 +40,8 @@ def generate_launch_description():
         DeclareLaunchArgument('flip_depth', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
+        # /config/depthfilter/Openni_device.json，need config path.
+        DeclareLaunchArgument('depth_filter_config', default_value=''),
         DeclareLaunchArgument('ir_width', default_value='640'),
         DeclareLaunchArgument('ir_height', default_value='400'),
         DeclareLaunchArgument('ir_fps', default_value='10'),
diff --git a/orbbec_camera/launch/gemini_ew_lite.launch.py b/orbbec_camera/launch/gemini_ew_lite.launch.py
index c58020ce..d11d2c03 100644
--- a/orbbec_camera/launch/gemini_ew_lite.launch.py
+++ b/orbbec_camera/launch/gemini_ew_lite.launch.py
@@ -29,6 +29,8 @@ def generate_launch_description():
         DeclareLaunchArgument('flip_depth', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
+        # /config/depthfilter/Openni_device.json，need config path.
+        DeclareLaunchArgument('depth_filter_config', default_value=''),
         DeclareLaunchArgument('ir_width', default_value='640'),
         DeclareLaunchArgument('ir_height', default_value='400'),
         DeclareLaunchArgument('ir_fps', default_value='10'),
diff --git a/orbbec_camera/launch/gemini_uw.launch.py b/orbbec_camera/launch/gemini_uw.launch.py
index ddfa8e4d..be5fa087 100644
--- a/orbbec_camera/launch/gemini_uw.launch.py
+++ b/orbbec_camera/launch/gemini_uw.launch.py
@@ -40,6 +40,8 @@ def generate_launch_description():
         DeclareLaunchArgument('flip_depth', default_value='false'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
+        # /config/depthfilter/Openni_device.json，need config path.
+        DeclareLaunchArgument('depth_filter_config', default_value=''),
         DeclareLaunchArgument('ir_width', default_value='640'),
         DeclareLaunchArgument('ir_height', default_value='400'),
         DeclareLaunchArgument('ir_fps', default_value='10'),