refactor: simplify gemini305 dual-color configuration by removing unused parameters

orbbec_camera/config/gemini305_dual_color.yaml

@@ -1,69 +1,7 @@
-# device
-device_type: camera
-camera_name: camera
-serial_number: ""
-usb_port: ""
-device_num: 1
-upgrade_firmware: ""
-preset_firmware_path: ""
-load_config_json_file_path: ""
-export_config_json_file_path: ""
-uvc_backend: libuvc
-connection_delay: 10
-publish_tf: true
-tf_publish_rate: 0.0
-ir_info_url: ""
-color_info_url: ""
-
-# device_misc
-device_access_mode: Default
-exposure_range_mode: default
-log_level: info
-log_file_name: ""
-enable_publish_extrinsic: false
-enable_d2c_viewer: false
-disparity_to_depth_mode: ""
-align_mode: SW
-align_target_stream: COLOR
-diagnostic_period: 1.0
+# Gemini 305 dual-color preset. Other parameters inherit gemini_301_series.launch.py.
 device_preset: Dual Color Streams
-color_preset: Default
-retry_on_usb3_detection_failure: false
-enable_sync_host_time: true
-sync_io_voltage_level: -1
-time_sync_period: 6.0
-time_domain: global
-config_file_path: ""
-enable_heartbeat: false
-gmsl_trigger_fps: 3000
-enable_gmsl_trigger: false
-disparity_range_mode: -1
-disparity_search_offset: -1
-disparity_offset_config: false
-offset_index0: -1
-offset_index1: -1
-frame_aggregate_mode: ANY
-interleave_ae_mode: hdr
-interleave_frame_enable: false
-interleave_skip_enable: false
-interleave_skip_index: 1
-show_fps_enable: false
 
-# color
-enable_color: false
-color_width: 0
-color_height: 0
-color_fps: 0
-color_format: ANY
-color_qos: default
-color_camera_info_qos: default
-color_rotation: -1
-color_flip: false
-color_mirror: false
-enable_color_decimation_filter: false
-color_decimation_filter_scale: -1
-
-# left_color
+# left color
 enable_left_color: true
 left_color_width: 0
 left_color_height: 0
@@ -77,8 +15,9 @@ left_color_mirror: false
 enable_left_color_decimation_filter: false
 left_color_decimation_filter_scale: -1
 enable_left_color_undistortion: false
+left_color.image_raw.enable_pub_plugins: ["image_transport/compressed", "image_transport/raw", "image_transport/theora"]
 
-# right_color
+# right color
 enable_right_color: true
 right_color_width: 0
 right_color_height: 0
@@ -92,187 +31,4 @@ right_color_mirror: false
 enable_right_color_decimation_filter: false
 right_color_decimation_filter_scale: -1
 enable_right_color_undistortion: false
-
-# color_common
-enable_color_auto_exposure_priority: false
-enable_color_auto_white_balance: true
-enable_color_auto_exposure: true
-color_ae_roi_left: -1
-color_ae_roi_right: -1
-color_ae_roi_top: -1
-color_ae_roi_bottom: -1
-color_exposure: -1
-color_gain: -1
-color_white_balance: -1
-color_ae_max_exposure: -1
-color_brightness: -1
-color_sharpness: -1
-color_gamma: -1
-color_saturation: -1
-color_contrast: -1
-color_hue: -1
-color_backlight_compensation: -1
-color_powerline_freq: ""
-color_denoising_level: -1
-enable_color_undistortion: false
-enable_depth_undistortion: false
-enable_ir_undistortion: false
-enable_left_ir_undistortion: false
-enable_right_ir_undistortion: false
-
-# hdr_params
-hdr_index1_depth_exposure: 1
-hdr_index1_depth_gain: 16
-hdr_index1_ir_brightness: 30
-hdr_index1_ir_ae_max_exposure: 30458
-hdr_index0_depth_exposure: 7500
-hdr_index0_depth_gain: 16
-hdr_index0_ir_brightness: 90
-hdr_index0_ir_ae_max_exposure: 30458
-
-# publishers and transports
-left_color.image_raw.enable_pub_plugins: ["image_transport/compressed", "image_transport/raw", "image_transport/theora"]
 right_color.image_raw.enable_pub_plugins: ["image_transport/compressed", "image_transport/raw", "image_transport/theora"]
-
-# In dual color mode, it is not recommended to change the following parameters
-# depth
-enable_depth: false
-depth_width: 0
-depth_height: 0
-depth_fps: 0
-depth_format: ANY
-depth_qos: default
-depth_camera_info_qos: default
-enable_depth_auto_exposure_priority: false
-depth_precision: ""
-depth_rotation: -1
-depth_flip: false
-depth_mirror: false
-depth_ae_roi_left: -1
-depth_ae_roi_right: -1
-depth_ae_roi_top: -1
-depth_ae_roi_bottom: -1
-mean_intensity_set_point: -1
-enable_depth_scale: false
-enable_decimation_filter: false
-decimation_filter_scale: -1
-enable_hdr_merge: false
-hdr_merge_exposure_1: -1
-hdr_merge_gain_1: -1
-hdr_merge_exposure_2: -1
-hdr_merge_gain_2: -1
-enable_sequence_id_filter: false
-sequence_id_filter_id: -1
-enable_threshold_filter: false
-threshold_filter_max: -1
-threshold_filter_min: -1
-enable_hardware_noise_removal_filter: false
-hardware_noise_removal_filter_threshold: -1.0
-enable_noise_removal_filter: false
-noise_removal_filter_min_diff: 256
-noise_removal_filter_max_size: 80
-enable_spatial_filter: false
-spatial_filter_alpha: -1.0
-spatial_filter_diff_threshold: -1
-spatial_filter_magnitude: -1
-spatial_filter_radius: -1
-enable_temporal_filter: false
-temporal_filter_diff_threshold: -1.0
-temporal_filter_weight: -1.0
-enable_disparity_to_depth: false
-hole_filling_filter_mode: ""
-enable_hole_filling_filter: false
-enable_spatial_fast_filter: false
-spatial_fast_filter_radius: -1
-enable_spatial_moderate_filter: false
-spatial_moderate_filter_diff_threshold: -1
-spatial_moderate_filter_magnitude: -1
-spatial_moderate_filter_radius: -1
-
-# point_cloud
-depth_registration: false
-point_cloud_qos: default
-enable_point_cloud: false
-point_cloud_decimation_filter_factor: 1
-enable_colored_point_cloud: false
-cloud_frame_id: ""
-ordered_pc: false
-
-# ldp
-enable_ldp: true
-ldp_power_level: -1
-
-# left_ir
-enable_left_ir: false
-left_ir_width: 0
-left_ir_height: 0
-left_ir_fps: 0
-left_ir_format: ANY
-left_ir_qos: default
-left_ir_camera_info_qos: default
-left_ir_rotation: -1
-left_ir_flip: false
-left_ir_mirror: false
-enable_left_ir_sequence_id_filter: false
-left_ir_sequence_id_filter_id: -1
-
-# right_ir
-enable_right_ir: false
-right_ir_width: 0
-right_ir_height: 0
-right_ir_fps: 0
-right_ir_format: ANY
-right_ir_qos: default
-right_ir_camera_info_qos: default
-right_ir_rotation: -1
-right_ir_flip: false
-right_ir_mirror: false
-enable_right_ir_sequence_id_filter: false
-right_ir_sequence_id_filter_id: -1
-
-# ir_common
-enable_ir_auto_exposure: false
-ir_exposure: -1
-ir_gain: -1
-ir_ae_max_exposure: -1
-ir_brightness: -1
-
-# imu
-enable_sync_output_accel_gyro: false
-enable_accel: false
-enable_accel_data_correction: false
-accel_rate: 200hz
-accel_range: 4g
-enable_gyro: false
-enable_gyro_data_correction: false
-gyro_rate: 200hz
-gyro_range: 1000dps
-linear_accel_cov: 0.01
-angular_vel_cov: 0.01
-
-depth_delay_us: 0
-color_delay_us: 0
-trigger2image_delay_us: 0
-trigger_out_delay_us: 0
-trigger_out_enabled: true
-software_trigger_enabled: true
-frames_per_trigger: 2
-software_trigger_period: 33
-
-enable_ptp_config: false
-enable_frame_sync: true
-
-noise_removal_filter_min_diff: 256
-noise_removal_filter_max_size: 80
-
-# laser_params
-laser_index1_laser_control: 0
-laser_index1_depth_exposure: 3000
-laser_index1_depth_gain: 16
-laser_index1_ir_brightness: 60
-laser_index1_ir_ae_max_exposure: 17000
-laser_index0_laser_control: 1
-laser_index0_depth_exposure: 3000
-laser_index0_depth_gain: 16
-laser_index0_ir_brightness: 60
-laser_index0_ir_ae_max_exposure: 30000