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refactor: remove unused launch arguments and update hardware noise removal filter default

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ob-yalian
2026-07-15 21:24:09 +08:00
parent d2fb1cfea3
commit 8d21c3f81b
1 changed files with 1 additions and 18 deletions
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orbbec_camera/launch/gemini_301_series.launch.py
+1 -18
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@@ -197,24 +197,11 @@ def generate_launch_description():
DeclareLaunchArgument('ir_gain', default_value='-1'), DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'), DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'), DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
DeclareLaunchArgument('accel_rate', default_value='200hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
DeclareLaunchArgument('linear_accel_cov', default_value='0.01'),
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
DeclareLaunchArgument('publish_tf', default_value='true'), DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'), DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('ir_info_url', default_value=''), DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''), DeclareLaunchArgument('color_info_url', default_value=''),
DeclareLaunchArgument('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le
DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
DeclareLaunchArgument('log_level', default_value='info'), DeclareLaunchArgument('log_level', default_value='info'),
DeclareLaunchArgument('log_file_name', default_value=''), DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
@@ -236,9 +223,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_hdr_merge', default_value='false'), DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('enable_threshold_filter', default_value='false'), DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'), DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'), DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_disp_outliers_filter', default_value='false'),
DeclareLaunchArgument('enable_spatial_filter', default_value='false'), DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'), DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
@@ -296,9 +282,6 @@ def generate_launch_description():
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'), DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'),
DeclareLaunchArgument('interleave_frame_enable', default_value='false'), 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_depth_exposure', default_value='1'), DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'), DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'), DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),