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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/gemini2.launch.xml
+14
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@@ -19,6 +19,7 @@
<arg name="flip_color" default="false"/>
<arg name="color_qos" default="default"/>
<arg name="color_camera_info_qos" default="default"/>
<arg name="enable_color_auto_exposure" default="true"/>
<arg name="depth_width" default="640"/>
<arg name="depth_height" default="400"/>
<arg name="depth_fps" default="30"/>
@@ -35,6 +36,7 @@
<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=""/>
@@ -43,6 +45,11 @@
<arg name="enable_publish_extrinsic" default="false"/>
<arg name="enable_hardware_d2d" default="true"/>
<arg name="enable_d2c_viewer" default="false"/>
<arg name="enable_soft_filter" default="true"/>
<arg name="sync_mode" default="close"/>
<arg name="ir_trigger_signal_in_delay" default="0"/>
<arg name="rgb_trigger_signal_in_delay" default="0"/>
<arg name="device_trigger_signal_out_delay" default="0"/>
<group>
<push-ros-namespace namespace="$(var camera_name)"/>
<node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -64,6 +71,7 @@
<param name="flip_color" value="$(var flip_color)"/>
<param name="color_qos" value="$(var color_qos)"/>
<param name="color_camera_info_qos" value="$(var color_camera_info_qos)"/>
<param name="enable_color_auto_exposure" value="$(var enable_color_auto_exposure)"/>
<param name="depth_width" value="$(var depth_width)"/>
<param name="depth_height" value="$(var depth_height)"/>
<param name="depth_fps" value="$(var depth_fps)"/>
@@ -80,6 +88,7 @@
<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="$(var ir_info_url)"/>
@@ -88,6 +97,11 @@
<param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
<param name="enable_hardware_d2d" value="$(var enable_hardware_d2d)"/>
<param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
<param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
<param name="sync_mode" value="$(var sync_mode)"/>
<param name="ir_trigger_signal_in_delay" value="$(var ir_trigger_signal_in_delay)"/>
<param name="rgb_trigger_signal_in_delay" value="$(var rgb_trigger_signal_in_delay)"/>
<param name="device_trigger_signal_out_delay" value="$(var device_trigger_signal_out_delay)"/>
<remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
</node>
</group>