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fix: restore changes omitted by v2 develop merge

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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/gemini345.launch.py
+5 -2
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@@ -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=''),