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Add color_rotation ,depth_rotation ,left_ir_rotation and right_ir_rotation parameters

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This commit is contained in:
jj
2025-04-22 16:38:10 +08:00
parent 16485bf310
commit 661c1ca3e2
3 changed files with 36 additions and 1 deletions
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orbbec_camera/launch/gemini_330_series.launch.py
+4
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@@ -68,6 +68,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('color_rotation', default_value='0'),#color rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
@@ -93,6 +94,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('depth_rotation', default_value='0'),#depth rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
@@ -104,6 +106,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('left_ir_rotation', default_value='0'),#left ir rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('right_ir_width', default_value='0'),
DeclareLaunchArgument('right_ir_height', default_value='0'),
DeclareLaunchArgument('right_ir_fps', default_value='0'),
@@ -111,6 +114,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('right_ir_rotation', default_value='0'),#right ir rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),