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fix: restore changes omitted by v2 develop merge

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This commit is contained in:
ob-yalian
2026-09-21 18:54:31 +08:00
parent a625397460
commit e10afc11a4
34 changed files with 422 additions and 388 deletions
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orbbec_camera/launch/dabai_a.launch.py
+5 -2
View File
@@ -43,7 +43,7 @@ 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', 'bag_record_filename', 'bag_filename',
'depth_colorizer_mode'}
'enhanced_depth_model_path', 'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -148,7 +148,6 @@ def generate_launch_description():
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', 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'),
@@ -194,6 +193,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -214,6 +216,7 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Standard'),
orbbec_camera/launch/dabai_al.launch.py
+5 -2
View File
@@ -43,7 +43,7 @@ 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', 'bag_record_filename', 'bag_filename',
'depth_colorizer_mode'}
'enhanced_depth_model_path', 'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -148,7 +148,6 @@ def generate_launch_description():
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', 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'),
@@ -194,6 +193,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -214,6 +216,7 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
orbbec_camera/launch/gemini345.launch.py
+5 -2
View File
@@ -43,7 +43,7 @@ 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', 'bag_record_filename', 'bag_filename',
'depth_colorizer_mode'}
'enhanced_depth_model_path', 'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -147,7 +147,6 @@ def generate_launch_description():
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', 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'),
@@ -193,6 +192,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='true'),
DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -213,6 +215,7 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value=''),
orbbec_camera/launch/gemini345_lg.launch.py
+5 -2
View File
@@ -43,7 +43,7 @@ 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', 'bag_record_filename', 'bag_filename',
'depth_colorizer_mode'}
'enhanced_depth_model_path', 'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -148,7 +148,6 @@ def generate_launch_description():
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', 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'),
@@ -194,6 +193,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='true'),
DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -214,6 +216,7 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
orbbec_camera/launch/gemini435_le.launch.py
-1
View File
@@ -171,7 +171,6 @@ def generate_launch_description():
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', 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'),
orbbec_camera/launch/gemini_301_series.launch.py
+4 -7
View File
@@ -130,7 +130,6 @@ def generate_launch_description():
DeclareLaunchArgument('right_color_qos_history', default_value='default'),
DeclareLaunchArgument('right_color_qos_depth', default_value='-1'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_color_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('color_rotation', default_value='-1'),#color rotation degree : 0, 90, 180, 270
DeclareLaunchArgument('color_flip', default_value='false'),
DeclareLaunchArgument('color_mirror', default_value='false'),
@@ -138,11 +137,8 @@ def generate_launch_description():
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_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('color_brightness', default_value='-1'),
DeclareLaunchArgument('color_sharpness', default_value='-1'),
DeclareLaunchArgument('color_gamma', default_value='-1'),
@@ -207,12 +203,13 @@ def generate_launch_description():
DeclareLaunchArgument('right_ir_mirror', default_value='false'),
DeclareLaunchArgument('enable_right_ir_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('right_ir_sequence_id_filter_id', default_value='-1'),
# Gemini 301 color, depth, and IR streams share one auto-exposure switch.
DeclareLaunchArgument('enable_auto_exposure', default_value='true'),
# Gemini 301 color/depth/IR share these AE, exposure and gain controls.
# Use only these entries in YAML too; color exposure/max exposure values
# must be multiplied by 100 when migrating. Existing IR units are unchanged.
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('publish_tf', default_value='true'),
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('ir_info_url', default_value=''),
orbbec_camera/launch/gemini_330_series.launch.py
-1
View File
@@ -192,7 +192,6 @@ def generate_launch_description():
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', 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'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
-1
View File
@@ -190,7 +190,6 @@ def generate_launch_description():
DeclareLaunchArgument('ir_exposure', default_value='-1'),
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', 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'),