mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 03:57:46 +08:00
Modify the noise removal filter default value
This commit is contained in:
jj
@@ -8,7 +8,7 @@ from launch_ros.descriptions import ComposableNode
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def load_yaml(file_path):
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with open(file_path, "r") as f:
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with open(file_path, 'r') as f:
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return yaml.safe_load(f)
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@@ -29,22 +29,20 @@ def convert_value(value):
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return float(value)
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except ValueError:
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pass
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if value.lower() == "true":
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if value.lower() == 'true':
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return True
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elif value.lower() == "false":
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elif value.lower() == 'false':
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return False
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return value
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def load_parameters(context, args):
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default_params = {
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arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args
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}
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config_file_path = LaunchConfiguration("config_file_path").perform(context)
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default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
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config_file_path = LaunchConfiguration('config_file_path').perform(context)
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if config_file_path:
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yaml_params = load_yaml(config_file_path)
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default_params = merge_params(default_params, yaml_params)
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skip_convert = {"config_file_path", "usb_port", "serial_number"}
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skip_convert = {'config_file_path', 'usb_port', 'serial_number'}
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return {
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key: (value if key in skip_convert else convert_value(value))
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for key, value in default_params.items()
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@@ -53,253 +51,213 @@ def load_parameters(context, args):
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def generate_launch_description():
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args = [
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DeclareLaunchArgument("camera_name", default_value="camera"),
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DeclareLaunchArgument("depth_registration", default_value="true"),
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DeclareLaunchArgument("serial_number", default_value=""),
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DeclareLaunchArgument("usb_port", default_value=""),
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DeclareLaunchArgument("device_num", default_value="1"),
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DeclareLaunchArgument("upgrade_firmware", default_value=""),
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DeclareLaunchArgument("preset_firmware_path", default_value=""),
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DeclareLaunchArgument("load_config_json_file_path", default_value=""),
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DeclareLaunchArgument("export_config_json_file_path", default_value=""),
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DeclareLaunchArgument("uvc_backend", default_value="libuvc"), # libuvc or v4l2
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DeclareLaunchArgument("point_cloud_qos", default_value="default"),
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DeclareLaunchArgument("enable_point_cloud", default_value="true"),
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DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
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DeclareLaunchArgument("cloud_frame_id", default_value=""),
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DeclareLaunchArgument("connection_delay", default_value="10"),
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DeclareLaunchArgument("color_width", default_value="0"),
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DeclareLaunchArgument("color_height", default_value="0"),
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DeclareLaunchArgument("color_fps", default_value="0"),
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DeclareLaunchArgument("color_format", default_value="ANY"),
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DeclareLaunchArgument("enable_color", default_value="true"),
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DeclareLaunchArgument("color_qos", default_value="default"),
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DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
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DeclareLaunchArgument(
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"enable_color_auto_exposure_priority", default_value="false"
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),
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DeclareLaunchArgument(
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"color_rotation", default_value="-1"
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), # color rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument("color_flip", default_value="false"),
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DeclareLaunchArgument("color_mirror", default_value="false"),
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DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
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DeclareLaunchArgument("color_ae_roi_left", default_value="-1"),
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DeclareLaunchArgument("color_ae_roi_right", default_value="-1"),
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DeclareLaunchArgument("color_ae_roi_top", default_value="-1"),
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DeclareLaunchArgument("color_ae_roi_bottom", default_value="-1"),
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DeclareLaunchArgument("color_exposure", default_value="-1"),
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DeclareLaunchArgument("color_gain", default_value="-1"),
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DeclareLaunchArgument("enable_color_auto_white_balance", default_value="true"),
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DeclareLaunchArgument("color_white_balance", default_value="-1"),
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DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
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DeclareLaunchArgument("color_brightness", default_value="-1"),
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DeclareLaunchArgument("color_sharpness", default_value="-1"),
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DeclareLaunchArgument("color_gamma", default_value="-1"),
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DeclareLaunchArgument("color_saturation", default_value="-1"),
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DeclareLaunchArgument("color_constrast", default_value="-1"),
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DeclareLaunchArgument("color_hue", default_value="-1"),
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DeclareLaunchArgument(
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"enable_color_backlight_compenstation", default_value="false"
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),
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DeclareLaunchArgument(
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"color_powerline_freq", default_value=""
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), # disable ,50hz ,60hz ,auto
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DeclareLaunchArgument("enable_color_decimation_filter", default_value="false"),
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DeclareLaunchArgument("color_decimation_filter_scale", default_value="-1"),
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DeclareLaunchArgument("depth_width", default_value="0"),
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DeclareLaunchArgument("depth_height", default_value="0"),
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DeclareLaunchArgument("depth_fps", default_value="0"),
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DeclareLaunchArgument("depth_format", default_value="ANY"),
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DeclareLaunchArgument("enable_depth", default_value="true"),
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DeclareLaunchArgument("depth_qos", default_value="default"),
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DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
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DeclareLaunchArgument(
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"enable_depth_auto_exposure_priority", default_value="false"
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),
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DeclareLaunchArgument("depth_precision", default_value=""),
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DeclareLaunchArgument(
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"depth_rotation", default_value="-1"
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), # depth rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument("depth_flip", default_value="false"),
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DeclareLaunchArgument("depth_mirror", default_value="false"),
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DeclareLaunchArgument("depth_ae_roi_left", default_value="-1"),
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DeclareLaunchArgument("depth_ae_roi_right", default_value="-1"),
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DeclareLaunchArgument("depth_ae_roi_top", default_value="-1"),
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DeclareLaunchArgument("depth_ae_roi_bottom", default_value="-1"),
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DeclareLaunchArgument("depth_brightness", default_value="-1"),
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DeclareLaunchArgument("left_ir_width", default_value="0"),
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DeclareLaunchArgument("left_ir_height", default_value="0"),
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DeclareLaunchArgument("left_ir_fps", default_value="0"),
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DeclareLaunchArgument("left_ir_format", default_value="ANY"),
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DeclareLaunchArgument("enable_left_ir", default_value="false"),
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DeclareLaunchArgument("left_ir_qos", default_value="default"),
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DeclareLaunchArgument("left_ir_camera_info_qos", default_value="default"),
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DeclareLaunchArgument(
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"left_ir_rotation", default_value="-1"
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), # left_ir rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument("left_ir_flip", default_value="false"),
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DeclareLaunchArgument("left_ir_mirror", default_value="false"),
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DeclareLaunchArgument(
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"enable_left_ir_sequence_id_filter", default_value="false"
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),
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DeclareLaunchArgument("left_ir_sequence_id_filter_id", default_value="-1"),
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DeclareLaunchArgument("right_ir_width", default_value="0"),
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DeclareLaunchArgument("right_ir_height", default_value="0"),
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DeclareLaunchArgument("right_ir_fps", default_value="0"),
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DeclareLaunchArgument("right_ir_format", default_value="ANY"),
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DeclareLaunchArgument("enable_right_ir", default_value="false"),
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DeclareLaunchArgument("right_ir_qos", default_value="default"),
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DeclareLaunchArgument("right_ir_camera_info_qos", default_value="default"),
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DeclareLaunchArgument(
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"right_ir_rotation", default_value="-1"
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), # right_ir rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument("right_ir_flip", default_value="false"),
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DeclareLaunchArgument("right_ir_mirror", default_value="false"),
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DeclareLaunchArgument(
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"enable_right_ir_sequence_id_filter", default_value="false"
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),
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DeclareLaunchArgument("right_ir_sequence_id_filter_id", default_value="-1"),
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DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
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DeclareLaunchArgument("ir_exposure", default_value="-1"),
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DeclareLaunchArgument("ir_gain", default_value="-1"),
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DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),
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DeclareLaunchArgument("ir_brightness", default_value="-1"),
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DeclareLaunchArgument("enable_sync_output_accel_gyro", default_value="false"),
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DeclareLaunchArgument("enable_accel", default_value="false"),
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DeclareLaunchArgument("enable_accel_data_correction", default_value="true"),
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DeclareLaunchArgument("accel_rate", default_value="200hz"),
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DeclareLaunchArgument("accel_range", default_value="4g"),
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DeclareLaunchArgument("enable_gyro", default_value="false"),
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DeclareLaunchArgument("enable_gyro_data_correction", default_value="true"),
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DeclareLaunchArgument("gyro_rate", default_value="200hz"),
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DeclareLaunchArgument("gyro_range", default_value="1000dps"),
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DeclareLaunchArgument("liner_accel_cov", default_value="0.01"),
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DeclareLaunchArgument("angular_vel_cov", default_value="0.01"),
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DeclareLaunchArgument("publish_tf", default_value="true"),
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DeclareLaunchArgument("tf_publish_rate", default_value="0.0"),
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DeclareLaunchArgument("ir_info_url", default_value=""),
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DeclareLaunchArgument("color_info_url", default_value=""),
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DeclareLaunchArgument('camera_name', default_value='camera'),
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DeclareLaunchArgument('depth_registration', default_value='true'),
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DeclareLaunchArgument('serial_number', default_value=''),
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DeclareLaunchArgument('usb_port', default_value=''),
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DeclareLaunchArgument('device_num', default_value='1'),
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DeclareLaunchArgument('upgrade_firmware', default_value=''),
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DeclareLaunchArgument('preset_firmware_path', default_value=''),
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DeclareLaunchArgument('load_config_json_file_path', default_value=''),
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DeclareLaunchArgument('export_config_json_file_path', default_value=''),
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DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
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DeclareLaunchArgument('point_cloud_qos', default_value='default'),
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DeclareLaunchArgument('enable_point_cloud', default_value='true'),
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DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
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DeclareLaunchArgument('cloud_frame_id', default_value=''),
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DeclareLaunchArgument('connection_delay', default_value='10'),
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DeclareLaunchArgument('color_width', default_value='0'),
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DeclareLaunchArgument('color_height', default_value='0'),
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DeclareLaunchArgument('color_fps', default_value='0'),
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DeclareLaunchArgument('color_format', default_value='ANY'),
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DeclareLaunchArgument('enable_color', default_value='true'),
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DeclareLaunchArgument('color_qos', default_value='default'),
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DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
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DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('color_flip', default_value='false'),
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DeclareLaunchArgument('color_mirror', default_value='false'),
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DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('color_ae_roi_bottom', default_value='-1'),
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DeclareLaunchArgument('color_exposure', default_value='-1'),
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DeclareLaunchArgument('color_gain', default_value='-1'),
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DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
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DeclareLaunchArgument('color_white_balance', default_value='-1'),
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DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('color_brightness', default_value='-1'),
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DeclareLaunchArgument('color_sharpness', default_value='-1'),
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DeclareLaunchArgument('color_gamma', default_value='-1'),
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DeclareLaunchArgument('color_saturation', default_value='-1'),
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DeclareLaunchArgument('color_constrast', default_value='-1'),
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DeclareLaunchArgument('color_hue', default_value='-1'),
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DeclareLaunchArgument('enable_color_backlight_compenstation', default_value='false'),
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DeclareLaunchArgument('color_powerline_freq', default_value=''),#disable ,50hz ,60hz ,auto
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DeclareLaunchArgument('enable_color_decimation_filter', default_value='false'),
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DeclareLaunchArgument('color_decimation_filter_scale', default_value='-1'),
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DeclareLaunchArgument('depth_width', default_value='0'),
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DeclareLaunchArgument('depth_height', default_value='0'),
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DeclareLaunchArgument('depth_fps', default_value='0'),
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DeclareLaunchArgument('depth_format', default_value='ANY'),
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DeclareLaunchArgument('enable_depth', default_value='true'),
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DeclareLaunchArgument('depth_qos', default_value='default'),
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DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
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DeclareLaunchArgument('depth_precision', default_value=''),
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DeclareLaunchArgument('depth_rotation', default_value='-1'),#depth rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('depth_flip', default_value='false'),
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DeclareLaunchArgument('depth_mirror', default_value='false'),
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DeclareLaunchArgument('depth_ae_roi_left', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
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DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
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DeclareLaunchArgument('depth_brightness', default_value='-1'),
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DeclareLaunchArgument('left_ir_width', default_value='0'),
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DeclareLaunchArgument('left_ir_height', default_value='0'),
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DeclareLaunchArgument('left_ir_fps', default_value='0'),
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DeclareLaunchArgument('left_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_left_ir', default_value='false'),
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DeclareLaunchArgument('left_ir_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('left_ir_rotation', default_value='-1'),#left_ir rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('left_ir_flip', default_value='false'),
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DeclareLaunchArgument('left_ir_mirror', default_value='false'),
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DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('right_ir_width', default_value='0'),
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DeclareLaunchArgument('right_ir_height', default_value='0'),
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DeclareLaunchArgument('right_ir_fps', default_value='0'),
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DeclareLaunchArgument('right_ir_format', default_value='ANY'),
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DeclareLaunchArgument('enable_right_ir', default_value='false'),
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DeclareLaunchArgument('right_ir_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
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DeclareLaunchArgument('right_ir_rotation', default_value='-1'),#right_ir rotation degree : 0, 90, 180, 270
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DeclareLaunchArgument('right_ir_flip', default_value='false'),
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DeclareLaunchArgument('right_ir_mirror', default_value='false'),
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DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
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DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
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DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
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DeclareLaunchArgument('ir_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_gain', default_value='-1'),
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DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
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DeclareLaunchArgument('ir_brightness', default_value='-1'),
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DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
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DeclareLaunchArgument('enable_accel', default_value='false'),
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DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
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DeclareLaunchArgument('accel_rate', default_value='200hz'),
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DeclareLaunchArgument('accel_range', default_value='4g'),
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DeclareLaunchArgument('enable_gyro', default_value='false'),
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DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
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DeclareLaunchArgument('gyro_rate', default_value='200hz'),
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DeclareLaunchArgument('gyro_range', default_value='1000dps'),
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DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
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DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
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DeclareLaunchArgument('publish_tf', default_value='true'),
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DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
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DeclareLaunchArgument('ir_info_url', default_value=''),
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DeclareLaunchArgument('color_info_url', default_value=''),
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# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
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# If you do not want to automatically enumerate network devices,
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# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
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DeclareLaunchArgument("enumerate_net_device", default_value="false"),
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DeclareLaunchArgument("net_device_ip", default_value=""),
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DeclareLaunchArgument("net_device_port", default_value="0"),
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DeclareLaunchArgument(
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"exposure_range_mode", default_value="default"
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), # default, ultimate or regular
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DeclareLaunchArgument("log_level", default_value="none"),
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DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
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DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
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DeclareLaunchArgument("disaparity_to_depth_mode", default_value="true"),
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DeclareLaunchArgument("enable_ldp", default_value="true"),
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DeclareLaunchArgument("ldp_power_level", default_value="-1"),
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DeclareLaunchArgument("sync_mode", default_value="standalone"),
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DeclareLaunchArgument("depth_delay_us", default_value="0"),
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DeclareLaunchArgument("color_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger2image_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger_out_delay_us", default_value="0"),
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DeclareLaunchArgument("trigger_out_enabled", default_value="true"),
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DeclareLaunchArgument("frames_per_trigger", default_value="2"),
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DeclareLaunchArgument("software_trigger_period", default_value="33"), # ms
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DeclareLaunchArgument(
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"enable_ptp_config", default_value="false"
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), # Only for Gemini 335Le
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DeclareLaunchArgument("enable_frame_sync", default_value="true"),
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DeclareLaunchArgument("ordered_pc", default_value="false"),
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DeclareLaunchArgument("enable_depth_scale", default_value="true"),
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DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
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DeclareLaunchArgument("enable_hdr_merge", default_value="false"),
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DeclareLaunchArgument("enable_sequence_id_filter", default_value="false"),
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DeclareLaunchArgument("enable_threshold_filter", default_value="false"),
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DeclareLaunchArgument(
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"enable_hardware_noise_removal_filter", default_value="false"
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),
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DeclareLaunchArgument("enable_noise_removal_filter", default_value="true"),
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DeclareLaunchArgument("enable_spatial_filter", default_value="false"),
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DeclareLaunchArgument("enable_temporal_filter", default_value="false"),
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DeclareLaunchArgument("enable_disaparity_to_depth", default_value="true"),
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DeclareLaunchArgument("enable_hole_filling_filter", default_value="false"),
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DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
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DeclareLaunchArgument("sequence_id_filter_id", default_value="-1"),
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DeclareLaunchArgument("threshold_filter_max", default_value="-1"),
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DeclareLaunchArgument("threshold_filter_min", default_value="-1"),
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DeclareLaunchArgument(
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"hardware_noise_removal_filter_threshold", default_value="-1.0"
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),
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DeclareLaunchArgument("noise_removal_filter_min_diff", default_value="256"),
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DeclareLaunchArgument("noise_removal_filter_max_size", default_value="80"),
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DeclareLaunchArgument("spatial_filter_alpha", default_value="-1.0"),
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DeclareLaunchArgument("spatial_filter_diff_threshold", default_value="-1"),
|
||||
DeclareLaunchArgument("spatial_filter_magnitude", default_value="-1"),
|
||||
DeclareLaunchArgument("spatial_filter_radius", default_value="-1"),
|
||||
DeclareLaunchArgument("temporal_filter_diff_threshold", default_value="-1.0"),
|
||||
DeclareLaunchArgument("temporal_filter_weight", default_value="-1.0"),
|
||||
DeclareLaunchArgument("hole_filling_filter_mode", default_value=""),
|
||||
DeclareLaunchArgument("hdr_merge_exposure_1", default_value="-1"),
|
||||
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("align_mode", default_value="SW"),
|
||||
DeclareLaunchArgument(
|
||||
"align_target_stream", default_value="COLOR"
|
||||
), # COLOR or DEPTH
|
||||
DeclareLaunchArgument("diagnostic_period", default_value="1.0"),
|
||||
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("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"),
|
||||
DeclareLaunchArgument(
|
||||
"interleave_skip_index", default_value="1"
|
||||
), # 0:skip pattern ir 1: skip flood ir
|
||||
DeclareLaunchArgument(
|
||||
"hdr_index1_laser_control", default_value="1"
|
||||
), # interleave_hdr_param
|
||||
DeclareLaunchArgument("hdr_index1_depth_exposure", default_value="1"),
|
||||
DeclareLaunchArgument("hdr_index1_depth_gain", default_value="16"),
|
||||
DeclareLaunchArgument("hdr_index1_ir_brightness", default_value="20"),
|
||||
DeclareLaunchArgument("hdr_index1_ir_ae_max_exposure", default_value="2000"),
|
||||
DeclareLaunchArgument("hdr_index0_laser_control", default_value="1"),
|
||||
DeclareLaunchArgument("hdr_index0_depth_exposure", default_value="7500"),
|
||||
DeclareLaunchArgument("hdr_index0_depth_gain", default_value="16"),
|
||||
DeclareLaunchArgument("hdr_index0_ir_brightness", default_value="60"),
|
||||
DeclareLaunchArgument("hdr_index0_ir_ae_max_exposure", default_value="10000"),
|
||||
DeclareLaunchArgument(
|
||||
"laser_index1_laser_control", default_value="0"
|
||||
), # interleave_laser_param
|
||||
DeclareLaunchArgument("laser_index1_depth_exposure", default_value="3000"),
|
||||
DeclareLaunchArgument("laser_index1_depth_gain", default_value="16"),
|
||||
DeclareLaunchArgument("laser_index1_ir_brightness", default_value="60"),
|
||||
DeclareLaunchArgument("laser_index1_ir_ae_max_exposure", default_value="17000"),
|
||||
DeclareLaunchArgument("laser_index0_laser_control", default_value="1"),
|
||||
DeclareLaunchArgument("laser_index0_depth_exposure", default_value="3000"),
|
||||
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("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'),
|
||||
DeclareLaunchArgument('disaparity_to_depth_mode', default_value='true'),
|
||||
DeclareLaunchArgument('enable_ldp', default_value='true'),
|
||||
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
|
||||
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='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'),
|
||||
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
|
||||
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('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'),
|
||||
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
|
||||
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
|
||||
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
|
||||
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
|
||||
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
|
||||
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
|
||||
DeclareLaunchArgument('hdr_merge_exposure_1', default_value='-1'),
|
||||
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('align_mode', default_value='SW'),
|
||||
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
|
||||
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
|
||||
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('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'),
|
||||
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
|
||||
|
||||
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
|
||||
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='20'),
|
||||
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='2000'),
|
||||
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
|
||||
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='10000'),
|
||||
|
||||
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
|
||||
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
|
||||
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
|
||||
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
|
||||
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
|
||||
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
|
||||
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
|
||||
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'),
|
||||
]
|
||||
|
||||
def get_params(context, args):
|
||||
@@ -321,29 +279,28 @@ def generate_launch_description():
|
||||
]
|
||||
else:
|
||||
return [
|
||||
GroupAction(
|
||||
[
|
||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||
ComposableNodeContainer(
|
||||
name="camera_container",
|
||||
namespace="",
|
||||
package="rclcpp_components",
|
||||
executable="component_container",
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package="orbbec_camera",
|
||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||
name=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
),
|
||||
],
|
||||
output="screen",
|
||||
),
|
||||
]
|
||||
)
|
||||
GroupAction([
|
||||
PushRosNamespace(LaunchConfiguration("camera_name")),
|
||||
ComposableNodeContainer(
|
||||
name="camera_container",
|
||||
namespace="",
|
||||
package="rclcpp_components",
|
||||
executable="component_container",
|
||||
composable_node_descriptions=[
|
||||
ComposableNode(
|
||||
package="orbbec_camera",
|
||||
plugin="orbbec_camera::OBCameraNodeDriver",
|
||||
name=LaunchConfiguration("camera_name"),
|
||||
parameters=params,
|
||||
),
|
||||
],
|
||||
output="screen",
|
||||
)
|
||||
])
|
||||
]
|
||||
|
||||
return LaunchDescription(
|
||||
args
|
||||
+ [OpaqueFunction(function=lambda context: create_node_action(context, args))]
|
||||
args + [
|
||||
OpaqueFunction(function=lambda context: create_node_action(context, args))
|
||||
]
|
||||
)
|
||||
|
||||
Reference in New Issue
Block a user