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https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +08:00
Update orbbec_camera package to be compatible with cuvslam
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jj
@@ -9,78 +9,113 @@ orbbec_ros:
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config_file_path: "gemini2L.yaml"
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deivce:
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# camera name, usually overwritten by launch file
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camera_name: "camera"
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# camera serial number, usually overwritten by launch file
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serial_number: ""
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# The USB port of the camera. This parameter is required when using multiple cameras.
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usb_port: ""
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# Number of devices. If multiple cameras are required, this parameter must be filled in launch file
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device_num: 1
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uvc_backend: "libuvc"
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product_id: ""
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# The delay time for reopening the device, in milliseconds. Usually, there is no need to modify by default.
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connection_delay: 100
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time_domain: "global"
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retry_on_usb3_detection_failure: false
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enable_heartbeat: false
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enable_ldp: true
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network_device:
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# Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices.
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# When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true.
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enumerate_net_device: false
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# Port number of the network device. If 0, a random port will be used
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net_device_port: 0
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# IP address of the network device.
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net_device_ip: ""
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color:
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# If true, the color image will be enabled
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enable_color: true
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color_qos: "default"
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color_camera_info_qos: "default"
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# Width of the color image. If 0, the default width will be used
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color_width: 1280
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# Height of the color image. If 0, the default height will be used
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color_height: 800
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# fps of the color image. If 0, the default FPS will be used
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color_fps: 30
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# Format of the color image.
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color_format: "MJPG"
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enable_color_auto_white_balance: true
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color_white_balance: -1
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color_auto_ae:
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enable_color_auto_exposure: true
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color_ae_max_exposure: -1
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color_manual_ae:
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color_exposure: -1
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color_gain: -1
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color_brightness: -1
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depth:
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# If true, the depth image will be enabled
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enable_depth: true
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depth_qos: "default"
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depth_camera_info_qos: "default"
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# Width of the depth image. If 0, the default width will be used
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depth_width: 1280
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# Height of the depth image. If 0, the default height will be used
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depth_height: 800
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# If 0, the default FPS will be used
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depth_fps: 30
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# Format of the depth image.
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depth_format: "Y16"
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# If false, the depth scale will not be enabled
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enable_depth_scale: true
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# Depth registration mode.
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depth_registration: false
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# The alignment mode to be used. Options are "HW" for hardware alignment and "SW" for software alignment
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align_mode: "HW"
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# Gemini 2, Gemini 2 L, and Gemini 2 XL cameras support deep working mode switching
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# Specific camera deep working mode support types can be found in the deep mode comments.
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# Deep working mode support is as follows:{"Unbinned Dense Default","Unbinned Sparse Default","Binned Sparse Default","Obstacle Avoidance"}
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# Depth work mode. #For details, Please refer to the comments in SDK/include/libobsensor/Advanced.h for a detailed explanation.
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depth_work_mode: ""
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# Configure the loading path of the deep filtering configuration file. By default, the deep filtering configuration file is located in the /config/depthfilter directory and is only supported by Gemini2.
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depth_filter_config: ""
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filter:
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soft_filter:
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# If true, the soft filter will be enabled
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enable_soft_filter: true
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# soft_filter_max_diff, If -1, the default value will be used
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soft_filter_max_diff: -1
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# soft_filter_speckle_size, If -1, the default value will be used
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soft_filter_speckle_size: -1
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noise_removal_filter:
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# If true, the noise removal filter will be enabled
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enable_noise_removal_filter: true
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ir:
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# enable the ir camera stream
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enable_ir: true
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ir_qos: "default"
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ir_camera_info_qos: "default"
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# Width of the left IR image. If 0, the default width will be used
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ir_width: 640
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# Height of the left IR image. If 0, the default height will be used
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ir_height: 400
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# If 0, the default FPS will be used
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ir_fps: 15
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# Format of the left IR image.
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ir_format: "Y8"
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ir_parameters:
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enable_ir_auto_exposure: true
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ir_ae_max_exposure: -1
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ir_exposure: -1
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ir_gain: -1
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ir_brightness: -1
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imu:
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# If true, enable the IMU accelerometer data will be enabled
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enable_accel: false
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# Rate of the accelerometer
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accel_rate: "100hz"
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# Range of the accelerometer.
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accel_range: "4g"
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# If true, enable the IMU gyroscope data will be enabled
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enable_gyro: false
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# Rate of the gyroscope.
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gyro_rate: "100hz"
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# Range of the gyroscope.
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gyro_range: "1000dps"
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# enable_sync_output_accel_gyro
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enable_sync_output_accel_gyro: false
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liner_accel_cov: 0.01
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angular_vel_cov: 0.01
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point_cloud:
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# If true, the depth point cloud will be enabled
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enable_point_cloud: true
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# enable color point cloud. {fase:disable, true:enable}
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enable_colored_point_cloud: false
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advanced:
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enable_frame_sync: true
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enable_d2c_viewer: false
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# If false, the hardware time will not be used
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use_hardware_time: true
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