i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'v2-main' into test_interleave_mode_opdk

Browse Source
This commit is contained in:
datean
2024-12-09 20:23:46 +08:00
parent 1b1653cfbc a8a4ee2ae3
commit 681d104822
19 changed files with 1976 additions and 3151 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/astra2.launch.py
+1 -1
View File
@@ -76,11 +76,11 @@ def generate_launch_description():
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
]
# Node configuration
orbbec_camera/launch/femto.launch.py
+1 -1
View File
@@ -78,10 +78,10 @@ def generate_launch_description():
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('enable_frame_sync', default_value='false'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
]
# Node configuration
orbbec_camera/launch/femto_bolt.launch.py
+1 -1
View File
@@ -84,11 +84,11 @@ def generate_launch_description():
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='SW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
]
# Node configuration
orbbec_camera/launch/femto_mega.launch.py
+1 -1
View File
@@ -90,11 +90,11 @@ def generate_launch_description():
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
]
# Node configuration
orbbec_camera/launch/gemini2.launch.py
+1 -1
View File
@@ -89,12 +89,12 @@ def generate_launch_description():
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
]
# Node configuration
orbbec_camera/launch/gemini2L.launch.py
+1 -1
View File
@@ -89,13 +89,13 @@ def generate_launch_description():
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='device'),
]
# Node configuration
orbbec_camera/launch/gemini_330_series.launch.py
+27 -1
View File
@@ -132,7 +132,6 @@ def generate_launch_description():
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
@@ -175,6 +174,33 @@ def generate_launch_description():
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
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='20'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
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='60'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
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'),
]
def get_params(context, args):
orbbec_camera/launch/gemini_intra_process_demo_launch.py
-1
View File
@@ -128,7 +128,6 @@ def generate_launch_description():
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
orbbec_camera/launch/ob_camera.launch.py
+1
View File
@@ -66,6 +66,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('time_domain', default_value='device'),
]
# Node configuration