feat: add point cloud decimation filter factor launch argument

orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),

orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_synced_verify.launch.py

@@ -60,6 +60,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('product_id', default_value=''),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),

orbbec_camera/launch/astra.launch.py

@@ -20,6 +20,7 @@ def generate_launch_description():
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),

orbbec_camera/launch/dabai_a.launch.py

@@ -80,6 +80,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),

orbbec_camera/launch/dabai_al.launch.py

@@ -80,6 +80,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -20,6 +20,7 @@ def generate_launch_description():
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -20,6 +20,7 @@ def generate_launch_description():
         DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
         DeclareLaunchArgument('product_id', default_value=''),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),

orbbec_camera/launch/gemini345.launch.py

@@ -79,6 +79,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),

orbbec_camera/launch/gemini345_lg.launch.py

@@ -80,6 +80,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),

orbbec_camera/launch/gemini435_le.launch.py

@@ -81,6 +81,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),

orbbec_camera/launch/gemini_330_series_low_cpu.launch.py

@@ -81,6 +81,7 @@ def generate_launch_description():
         DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('enable_point_cloud', default_value='true'),
+        DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),