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only set the interleave param when interleave_frame_enable is enabled

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datean
2024-12-05 19:56:43 +08:00
parent ee7f5b866b
commit f1134728f2
5 changed files with 61 additions and 42 deletions
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orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
+3 -3
View File
@@ -182,9 +182,9 @@ def generate_launch_description():
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_hardware_reset', default_value='false'),
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('interleave_frame_enable', default_value='true'),
DeclareLaunchArgument('interleave_skip_enable', default_value='true'),
DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'), # 'hdr' or 'laser'
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_index', default_value='0'), # 0:skip pattern ir 1: skip flood ir
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
DeclareLaunchArgument('attach_to_shared_component_container', default_value='false'),
orbbec_camera/launch/multi_camera_synced.launch.py
+12 -12
View File
@@ -45,17 +45,17 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "front_camera",
# "usb_port": "2-1",
"usb_port": "gmsl2-4",
"usb_port": "2-1",
# "usb_port": "gmsl2-4",
"device_num": "4",
# "sync_mode": "primary",
"sync_mode": "secondary_synced",
"sync_mode": "primary",
# "sync_mode": "secondary_synced",
"config_file_path": config_file_path,
'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms"),
'attach_to_shared_component_container': attach_to_shared_component_container_arg,
'component_container_name': component_container_name_arg,
'gmsl_trigger_fps': "5990",
'enable_gmsl_trigger': "true",
# 'gmsl_trigger_fps': "5990",
# 'enable_gmsl_trigger': "true",
}.items(),
)
left_camera = IncludeLaunchDescription(
@@ -64,8 +64,8 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "left_camera",
# "usb_port": "2-3.1",
"usb_port": "gmsl2-3",
"usb_port": "2-3.1",
# "usb_port": "gmsl2-3",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
@@ -80,8 +80,8 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "right_camera",
# "usb_port": "2-3.3",
"usb_port": "gmsl2-1",
"usb_port": "2-3.3",
# "usb_port": "gmsl2-1",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,
@@ -96,8 +96,8 @@ def generate_launch_description():
),
launch_arguments={
"camera_name": "rear_camera",
# "usb_port": "2-2",
"usb_port": "gmsl2-7",
"usb_port": "2-2",
# "usb_port": "gmsl2-7",
"device_num": "4",
"sync_mode": "secondary_synced",
"config_file_path": config_file_path,