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add soft filter&& AE switch

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This commit is contained in:
Joe Dong
2023-03-20 10:12:52 +08:00
parent 0d318d7a2a
commit 70ecc28dec
19 changed files with 117 additions and 2 deletions
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orbbec_camera/launch/dabai_dw.launch.xml
+4
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@@ -25,10 +25,12 @@
<arg name="flip_ir" default="false"/>
<arg name="ir_qos" default="default"/>
<arg name="ir_camera_info_qos" default="default"/>
<arg name="enable_ir_auto_exposure" default="true"/>
<arg name="publish_tf" default="true"/>
<arg name="tf_publish_rate" default="10.0"/>
<arg name="ir_info_url" default=""/>
<arg name="log_level" default="none"/>
<arg name="enable_soft_filter" default="true"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -56,10 +58,12 @@
<param name="flip_ir" value="$(var flip_ir)"/>
<param name="ir_qos" value="$(var ir_qos)"/>
<param name="ir_camera_info_qos" value="$(var ir_camera_info_qos)"/>
<param name="enable_ir_auto_exposure" value="$(var enable_ir_auto_exposure)"/>
<param name="publish_tf" value="$(var publish_tf)"/>
<param name="tf_publish_rate" value="$(var tf_publish_rate)"/>
<param name="ir_info_url" value="$(var ir_info_url)"/>
<param name="log_level" value="$(var log_level)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>