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Merge branch 'fix/remove_redundant_param' into v2/develop

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ob-yalian
2026-09-21 16:00:53 +08:00
parent 29e54284bb 3e5a496b17
commit f205a607b8
9 changed files with 6 additions and 21 deletions
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orbbec_camera/launch/dabai_a.launch.py
-1
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@@ -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'),
orbbec_camera/launch/dabai_al.launch.py
-1
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@@ -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'),
orbbec_camera/launch/gemini345.launch.py
-1
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@@ -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'),
orbbec_camera/launch/gemini345_lg.launch.py
-1
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@@ -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'),
orbbec_camera/launch/gemini435_le.launch.py
-1
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@@ -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
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@@ -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'),
orbbec_camera/src/ob_camera_node.cpp
+2 -7
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@@ -1736,8 +1736,7 @@ void OBCameraNode::setupDevices() {
"Current depth auto exposure priority: "
<< (device_->getIntProperty(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT) ? "ON" : "OFF")));
}
if ((should_apply_launch_config("enable_auto_exposure") ||
should_apply_launch_config("enable_ir_auto_exposure")) &&
if (should_apply_launch_config("enable_ir_auto_exposure") &&
device_->isPropertySupported(OB_PROP_IR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_IR_AUTO_EXPOSURE_BOOL, enable_ir_auto_exposure_);
TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
@@ -4874,11 +4873,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point",
depth_brightness_);
setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
setAndGetNodeParameter<bool>(enable_ir_auto_exposure_,
isLaunchParamProvided("enable_auto_exposure")
? "enable_auto_exposure"
: "enable_ir_auto_exposure",
true);
setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
setAndGetNodeParameter<int>(ir_gain_, "ir_gain", -1);
setAndGetNodeParameter<int>(ir_ae_max_exposure_, "ir_ae_max_exposure", -1);