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Add rotation, flip and mirror parameters and services

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jj
2025-05-12 11:52:56 +08:00
parent b2ef7d2d07
commit ba9c54b728
12 changed files with 1103 additions and 933 deletions
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orbbec_camera/launch/gemini2.launch.py
+91 -91
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@@ -12,103 +12,103 @@ import os
def generate_launch_description():
# Declare arguments
args = [
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='true'),
DeclareLaunchArgument('serial_number', default_value=''),
DeclareLaunchArgument('usb_port', default_value=''),
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
DeclareLaunchArgument('color_format', default_value='ANY'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', default_value='false'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('color_exposure', default_value='-1'),
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
DeclareLaunchArgument('depth_fps', default_value='0'),
DeclareLaunchArgument('depth_format', default_value='ANY'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('ir_width', default_value='0'),
DeclareLaunchArgument('ir_height', default_value='0'),
DeclareLaunchArgument('ir_fps', default_value='0'),
DeclareLaunchArgument('ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_ir', default_value='true'),
DeclareLaunchArgument('flip_ir', default_value='false'),
DeclareLaunchArgument('ir_qos', default_value='default'),
DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('accel_rate', default_value='100hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('gyro_rate', default_value='100hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument("camera_name", default_value="camera"),
DeclareLaunchArgument("depth_registration", default_value="true"),
DeclareLaunchArgument("serial_number", default_value=""),
DeclareLaunchArgument("usb_port", default_value=""),
DeclareLaunchArgument("device_num", default_value="1"),
DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
DeclareLaunchArgument("product_id", default_value=""),
DeclareLaunchArgument("enable_point_cloud", default_value="true"),
DeclareLaunchArgument("cloud_frame_id", default_value=""),
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_width", default_value="0"),
DeclareLaunchArgument("color_height", default_value="0"),
DeclareLaunchArgument("color_fps", default_value="0"),
DeclareLaunchArgument("color_format", default_value="ANY"),
DeclareLaunchArgument("enable_color", default_value="true"),
DeclareLaunchArgument("color_flip", default_value="false"),
DeclareLaunchArgument("color_qos", default_value="default"),
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
DeclareLaunchArgument("color_exposure", default_value="-1"),
DeclareLaunchArgument("color_gain", default_value="-1"),
DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
DeclareLaunchArgument("color_white_balance", default_value="-1"),
DeclareLaunchArgument("color_brightness", default_value="-1"),
DeclareLaunchArgument("depth_width", default_value="0"),
DeclareLaunchArgument("depth_height", default_value="0"),
DeclareLaunchArgument("depth_fps", default_value="0"),
DeclareLaunchArgument("depth_format", default_value="ANY"),
DeclareLaunchArgument("enable_depth", default_value="true"),
DeclareLaunchArgument("depth_flip", default_value="false"),
DeclareLaunchArgument("depth_qos", default_value="default"),
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
DeclareLaunchArgument("ir_width", default_value="0"),
DeclareLaunchArgument("ir_height", default_value="0"),
DeclareLaunchArgument("ir_fps", default_value="0"),
DeclareLaunchArgument("ir_format", default_value="ANY"),
DeclareLaunchArgument("enable_ir", default_value="true"),
DeclareLaunchArgument("ir_flip", default_value="false"),
DeclareLaunchArgument("ir_qos", default_value="default"),
DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
DeclareLaunchArgument("ir_exposure", default_value="-1"),
DeclareLaunchArgument("ir_gain", default_value="-1"),
DeclareLaunchArgument("ir_brightness", default_value="-1"),
DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="true"),
DeclareLaunchArgument("enable_accel", default_value="false"),
DeclareLaunchArgument("accel_rate", default_value="100hz"),
DeclareLaunchArgument("accel_range", default_value="4g"),
DeclareLaunchArgument("enable_gyro", default_value="false"),
DeclareLaunchArgument("gyro_rate", default_value="100hz"),
DeclareLaunchArgument("gyro_range", default_value="1000dps"),
DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
DeclareLaunchArgument("publish_tf", default_value="true"),
DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
DeclareLaunchArgument("ir_info_url", default_value=""),
DeclareLaunchArgument("color_info_url", default_value=""),
DeclareLaunchArgument("log_level", default_value="none"),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
DeclareLaunchArgument('depth_filter_config', default_value=''),
DeclareLaunchArgument("depth_filter_config", default_value=""),
# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('time_domain', default_value='global'),
DeclareLaunchArgument("depth_work_mode", default_value=""),
DeclareLaunchArgument("sync_mode", default_value="standalone"),
DeclareLaunchArgument("depth_delay_us", default_value="0"),
DeclareLaunchArgument("color_delay_us", default_value="0"),
DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
DeclareLaunchArgument("trigger_out_enabled", default_value="false"),
DeclareLaunchArgument("enable_frame_sync", default_value="true"),
DeclareLaunchArgument("ordered_pc", default_value="false"),
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
DeclareLaunchArgument("align_mode", default_value="HW"),
DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
DeclareLaunchArgument("laser_energy_level", default_value="-1"),
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
]
# Node configuration