feat: add undistortion launch arguments for various camera configurations

orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py

@@ -227,6 +227,9 @@ def generate_launch_description():
         DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
         DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('enable_firmware_log', default_value='false'),

orbbec_camera/examples/benchmark/ob_benchmark_0.launch.py

@@ -102,6 +102,10 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_fps', default_value='30'),
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='true'),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_point_cloud', default_value='false'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('enable_decimation_filter', default_value='false'),

orbbec_camera/examples/benchmark/ob_benchmark_1.launch.py

@@ -102,6 +102,10 @@ def generate_launch_description():
         DeclareLaunchArgument('right_ir_fps', default_value='30'),
         DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='true'),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_point_cloud', default_value='false'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('enable_decimation_filter', default_value='false'),

orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py

@@ -227,6 +227,9 @@ def generate_launch_description():
         DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
         DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('enable_firmware_log', default_value='false'),

orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py

@@ -171,6 +171,9 @@ def generate_launch_description():
         DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
         DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('enable_firmware_log', default_value='false'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py

@@ -227,6 +227,9 @@ def generate_launch_description():
         DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
         DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('enable_firmware_log', default_value='false'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_synced_verify.launch.py

@@ -109,6 +109,9 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_exposure', default_value='-1'),
         DeclareLaunchArgument('ir_gain', default_value='-1'),
         DeclareLaunchArgument('ir_brightness', default_value='-1'),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
         DeclareLaunchArgument('enable_accel', default_value='false'),

orbbec_camera/launch/astra.launch.py

@@ -70,6 +70,9 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),

orbbec_camera/launch/astra2.launch.py

@@ -107,6 +107,9 @@ def generate_launch_description():
         DeclareLaunchArgument("time_domain", default_value="global"),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_a.launch.py

@@ -210,10 +210,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/dabai_al.launch.py

@@ -212,10 +212,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -84,6 +84,9 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -78,6 +78,9 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),

orbbec_camera/launch/femto.launch.py

@@ -85,6 +85,9 @@ def generate_launch_description():
         DeclareLaunchArgument("time_domain", default_value="device"),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('device_preset', default_value='Custom'),
     ]
 

orbbec_camera/launch/femto_bolt.launch.py

@@ -113,6 +113,9 @@ def generate_launch_description():
         DeclareLaunchArgument("time_domain", default_value="global"),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('device_preset', default_value='Custom'),
     ]
 

orbbec_camera/launch/femto_mega.launch.py

@@ -119,6 +119,9 @@ def generate_launch_description():
         DeclareLaunchArgument("time_domain", default_value="global"),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('device_preset', default_value='Custom'),
 
         # Force IP parameters

orbbec_camera/launch/gemini2.launch.py

@@ -135,6 +135,9 @@ def generate_launch_description():
         DeclareLaunchArgument("time_domain", default_value="global"),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini210.launch.py

@@ -133,6 +133,9 @@ def generate_launch_description():
         DeclareLaunchArgument("time_domain", default_value="global"),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2L.launch.py

@@ -186,6 +186,9 @@ def generate_launch_description():
         DeclareLaunchArgument("time_domain", default_value="global"),
         DeclareLaunchArgument("enable_frame_timestamp_csv", default_value="false"),
         DeclareLaunchArgument("frame_timestamp_csv_file", default_value=""),
+        DeclareLaunchArgument("enable_color_undistortion", default_value="false"),
+        DeclareLaunchArgument("enable_depth_undistortion", default_value="false"),
+        DeclareLaunchArgument("enable_ir_undistortion", default_value="false"),
         DeclareLaunchArgument("config_file_path", default_value=""),
     ]
 

orbbec_camera/launch/gemini305.launch.py

@@ -275,10 +275,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/gemini305_g.launch.py

@@ -275,10 +275,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/gemini345.launch.py

@@ -209,10 +209,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/gemini345_lg.launch.py

@@ -212,10 +212,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/gemini435_le.launch.py

@@ -243,10 +243,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/gemini_330_series.launch.py

@@ -261,10 +261,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/gemini_330_series_low_cpu.launch.py

@@ -260,10 +260,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/gemini_330_series_sdk_json.launch.py

@@ -143,6 +143,10 @@ def generate_launch_description():
         DeclareLaunchArgument('time_domain', default_value='global'),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('show_fps_enable', default_value='false'),
 

orbbec_camera/launch/gemini_intra_process_demo_launch.py

@@ -163,10 +163,7 @@ def generate_launch_description():
         DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
         DeclareLaunchArgument('time_domain', default_value='device'),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_left_color_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_right_color_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
-        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),

orbbec_camera/launch/orbbec_camera.launch.py

@@ -36,6 +36,11 @@ def generate_launch_arguments():
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
         DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
+        DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_depth_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_left_ir_undistortion', default_value='false'),
+        DeclareLaunchArgument('enable_right_ir_undistortion', default_value='false'),
         #instra-process demo set
         DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
         DeclareLaunchArgument('attach_component_container_enable', default_value='false'),