From 6e1013bf8aad691a256d07c180380517d0c0a665 Mon Sep 17 00:00:00 2001 From: obyalian Date: Tue, 23 Sep 2025 11:05:05 +0800 Subject: [PATCH] Remove alternating frame, HDR fusion, and frame sequence filter params from Gemini 435Le launch --- orbbec_camera/launch/gemini435_le.launch.py | 26 --------------------- 1 file changed, 26 deletions(-) diff --git a/orbbec_camera/launch/gemini435_le.launch.py b/orbbec_camera/launch/gemini435_le.launch.py index 3bc62ae9..11414305 100644 --- a/orbbec_camera/launch/gemini435_le.launch.py +++ b/orbbec_camera/launch/gemini435_le.launch.py @@ -142,8 +142,6 @@ def generate_launch_description(): DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270 DeclareLaunchArgument('left_ir_flip', default_value='false'), DeclareLaunchArgument('left_ir_mirror', default_value='false'), - DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('right_ir_width', default_value='0'), DeclareLaunchArgument('right_ir_height', default_value='0'), DeclareLaunchArgument('right_ir_fps', default_value='0'), @@ -154,8 +152,6 @@ def generate_launch_description(): DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270 DeclareLaunchArgument('right_ir_flip', default_value='false'), DeclareLaunchArgument('right_ir_mirror', default_value='false'), - DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'), - DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'), DeclareLaunchArgument('ir_exposure', default_value='-1'), DeclareLaunchArgument('ir_gain', default_value='-1'), @@ -203,8 +199,6 @@ def generate_launch_description(): DeclareLaunchArgument('ordered_pc', default_value='false'), DeclareLaunchArgument('enable_depth_scale', default_value='true'), DeclareLaunchArgument('enable_decimation_filter', default_value='false'), - DeclareLaunchArgument('enable_hdr_merge', default_value='false'), - DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), DeclareLaunchArgument('enable_threshold_filter', default_value='false'), DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'), DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'), @@ -215,7 +209,6 @@ def generate_launch_description(): DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'), DeclareLaunchArgument('enable_spatial_moderate_filter', default_value='false'), DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), - DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('threshold_filter_max', default_value='-1'), DeclareLaunchArgument('threshold_filter_min', default_value='-1'), DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'), @@ -228,10 +221,6 @@ def generate_launch_description(): DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'), DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'), DeclareLaunchArgument('hole_filling_filter_mode', default_value=''), - DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'), - DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'), - DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'), - DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'), DeclareLaunchArgument('spatial_fast_filter_radius', default_value='-1'), DeclareLaunchArgument('spatial_moderate_filter_diff_threshold', default_value='-1'), DeclareLaunchArgument('spatial_moderate_filter_magnitude', default_value='-1'), @@ -258,21 +247,6 @@ def generate_launch_description(): DeclareLaunchArgument('offset_index0', default_value='-1'), DeclareLaunchArgument('offset_index1', default_value='-1'), DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable - 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'),