diff --git a/orbbec_camera/launch/gemini435_le.launch.py b/orbbec_camera/launch/gemini435_le.launch.py index eb680ce3..b9d2f6cf 100644 --- a/orbbec_camera/launch/gemini435_le.launch.py +++ b/orbbec_camera/launch/gemini435_le.launch.py @@ -43,10 +43,28 @@ def load_parameters(context, args): yaml_params = load_yaml(config_file_path) default_params = merge_params(default_params, yaml_params) skip_convert = {'config_file_path', 'usb_port', 'serial_number'} - return { - key: (value if key in skip_convert else convert_value(value)) - for key, value in default_params.items() - } + + result = {} + for key, value in default_params.items(): + if key in skip_convert: + result[key] = value + elif 'enable_pub_plugins' in key: + if isinstance(value, str): + if value.startswith('[') and value.endswith(']'): + try: + result[key] = yaml.safe_load(value) + except: + result[key] = [value] + else: + result[key] = [value] + elif isinstance(value, list): + result[key] = value + else: + result[key] = [str(value)] + else: + result[key] = convert_value(value) + + return result def generate_launch_description(): @@ -86,6 +104,7 @@ def generate_launch_description(): DeclareLaunchArgument('color_gain', default_value='-1'), DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'), DeclareLaunchArgument('color_white_balance', default_value='-1'), + DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'), DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'), DeclareLaunchArgument('color_brightness', default_value='-1'), DeclareLaunchArgument('color_sharpness', default_value='-1'), @@ -161,9 +180,10 @@ def generate_launch_description(): # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices # If you do not want to automatically enumerate network devices, # you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090 - DeclareLaunchArgument("enumerate_net_device", default_value='true'), - DeclareLaunchArgument("net_device_ip", default_value=""), - DeclareLaunchArgument("net_device_port", default_value="0"), + DeclareLaunchArgument('enumerate_net_device', default_value='true'), + DeclareLaunchArgument('net_device_ip', default_value=''), + DeclareLaunchArgument('net_device_port', default_value='0'), + DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), @@ -176,8 +196,10 @@ def generate_launch_description(): DeclareLaunchArgument('trigger2image_delay_us', default_value='0'), DeclareLaunchArgument('trigger_out_delay_us', default_value='0'), DeclareLaunchArgument('trigger_out_enabled', default_value='true'), + DeclareLaunchArgument('software_trigger_enabled', default_value='true'), DeclareLaunchArgument('frames_per_trigger', default_value='2'), DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms + DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le DeclareLaunchArgument('enable_frame_sync', default_value='true'), DeclareLaunchArgument('ordered_pc', default_value='false'), DeclareLaunchArgument('enable_depth_scale', default_value='true'), @@ -185,15 +207,19 @@ def generate_launch_description(): DeclareLaunchArgument('enable_hdr_merge', default_value='false'), DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), DeclareLaunchArgument('enable_threshold_filter', default_value='false'), + DeclareLaunchArgument('enable_hardware_noise_removal_filter', default_value='false'), DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'), DeclareLaunchArgument('enable_spatial_filter', default_value='false'), DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'), DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), + DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'), + DeclareLaunchArgument('enable_spatial_moderate_filter', default_value='false'), DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'), DeclareLaunchArgument('threshold_filter_max', default_value='-1'), DeclareLaunchArgument('threshold_filter_min', default_value='-1'), + DeclareLaunchArgument('hardware_noise_removal_filter_threshold', default_value='-1.0'), DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'), DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'), DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'), @@ -207,19 +233,32 @@ def generate_launch_description(): DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'), DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'), DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'), + DeclareLaunchArgument('spatial_fast_filter_radius', default_value='-1'), + DeclareLaunchArgument('spatial_moderate_filter_diff_threshold', default_value='-1'), + DeclareLaunchArgument('spatial_moderate_filter_magnitude', default_value='-1'), + DeclareLaunchArgument('spatial_moderate_filter_radius', default_value='-1'), DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH - DeclareLaunchArgument('diagnostic_period', default_value='1.0'), + DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds + DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds DeclareLaunchArgument('enable_laser', default_value='true'), DeclareLaunchArgument('depth_precision', default_value=''), DeclareLaunchArgument('device_preset', default_value='Default'), + DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_sync_host_time', default_value='true'), DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system DeclareLaunchArgument('enable_color_undistortion', default_value='false'), DeclareLaunchArgument('config_file_path', default_value=''), DeclareLaunchArgument('enable_heartbeat', default_value='false'), - DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, olor_frame, ANY or disable + DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'), + DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'), + DeclareLaunchArgument('disparity_range_mode', default_value='-1'), + DeclareLaunchArgument('disparity_search_offset', default_value='-1'), + DeclareLaunchArgument('disparity_offset_config', default_value='false'), + DeclareLaunchArgument('offset_index0', default_value='-1'), + DeclareLaunchArgument('offset_index1', default_value='-1'), + DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser' DeclareLaunchArgument('interleave_frame_enable', default_value='false'), DeclareLaunchArgument('interleave_skip_enable', default_value='false'), @@ -246,6 +285,16 @@ def generate_launch_description(): DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'), DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'), DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'), + DeclareLaunchArgument('show_fps_enable', default_value='false'), + + #color image transport plugins + DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), + #depth image transport plugins + DeclareLaunchArgument('depth.image_raw.enable_pub_plugins',default_value='["image_transport/compressedDepth", "image_transport/raw", "image_transport/theora"]'), + #infra1 + DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), + #infra2 + DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), ] def get_params(context, args):