@@ -57,6 +57,10 @@ def generate_launch_description():
5757 DeclareLaunchArgument ('serial_number' , default_value = '' ),
5858 DeclareLaunchArgument ('usb_port' , default_value = '' ),
5959 DeclareLaunchArgument ('device_num' , default_value = '1' ),
60+ DeclareLaunchArgument ('upgrade_firmware' , default_value = '' ),
61+ DeclareLaunchArgument ('preset_firmware_path' , default_value = '' ),
62+ DeclareLaunchArgument ('load_config_json_file_path' , default_value = '' ),
63+ DeclareLaunchArgument ('export_config_json_file_path' , default_value = '' ),
6064 DeclareLaunchArgument ('uvc_backend' , default_value = 'libuvc' ),#libuvc or v4l2
6165 DeclareLaunchArgument ('point_cloud_qos' , default_value = 'default' ),
6266 DeclareLaunchArgument ('enable_point_cloud' , default_value = 'true' ),
@@ -70,44 +74,84 @@ def generate_launch_description():
7074 DeclareLaunchArgument ('enable_color' , default_value = 'true' ),
7175 DeclareLaunchArgument ('color_qos' , default_value = 'default' ),
7276 DeclareLaunchArgument ('color_camera_info_qos' , default_value = 'default' ),
73- DeclareLaunchArgument ('enable_color_auto_exposure' , default_value = 'true' ),
77+ DeclareLaunchArgument ('enable_color_auto_exposure_priority' , default_value = 'false' ),
78+ DeclareLaunchArgument ('color_rotation' , default_value = '-1' ),#color rotation degree : 0, 90, 180, 270
79+ DeclareLaunchArgument ('color_flip' , default_value = 'false' ),
80+ DeclareLaunchArgument ('color_mirror' , default_value = 'false' ),
81+ DeclareLaunchArgument ('color_ae_roi_left' , default_value = '-1' ),
82+ DeclareLaunchArgument ('color_ae_roi_left' , default_value = '-1' ),
83+ DeclareLaunchArgument ('color_ae_roi_right' , default_value = '-1' ),
84+ DeclareLaunchArgument ('color_ae_roi_top' , default_value = '-1' ),
85+ DeclareLaunchArgument ('color_ae_roi_bottom' , default_value = '-1' ),
7486 DeclareLaunchArgument ('color_exposure' , default_value = '-1' ),
7587 DeclareLaunchArgument ('color_gain' , default_value = '-1' ),
7688 DeclareLaunchArgument ('enable_color_auto_white_balance' , default_value = 'true' ),
7789 DeclareLaunchArgument ('color_white_balance' , default_value = '-1' ),
90+ DeclareLaunchArgument ('enable_color_auto_exposure' , default_value = 'true' ),
7891 DeclareLaunchArgument ('color_ae_max_exposure' , default_value = '-1' ),
7992 DeclareLaunchArgument ('color_brightness' , default_value = '-1' ),
93+ DeclareLaunchArgument ('color_sharpness' , default_value = '-1' ),
94+ DeclareLaunchArgument ('color_gamma' , default_value = '-1' ),
95+ DeclareLaunchArgument ('color_saturation' , default_value = '-1' ),
96+ DeclareLaunchArgument ('color_constrast' , default_value = '-1' ),
97+ DeclareLaunchArgument ('color_hue' , default_value = '-1' ),
98+ DeclareLaunchArgument ('enable_color_backlight_compenstation' , default_value = 'false' ),
99+ DeclareLaunchArgument ('color_powerline_freq' , default_value = '' ),#disable ,50hz ,60hz ,auto
100+ DeclareLaunchArgument ('enable_color_decimation_filter' , default_value = 'false' ),
101+ DeclareLaunchArgument ('color_decimation_filter_scale' , default_value = '-1' ),
80102 DeclareLaunchArgument ('depth_width' , default_value = '0' ),
81103 DeclareLaunchArgument ('depth_height' , default_value = '0' ),
82104 DeclareLaunchArgument ('depth_fps' , default_value = '0' ),
83105 DeclareLaunchArgument ('depth_format' , default_value = 'ANY' ),
84106 DeclareLaunchArgument ('enable_depth' , default_value = 'true' ),
85107 DeclareLaunchArgument ('depth_qos' , default_value = 'default' ),
86108 DeclareLaunchArgument ('depth_camera_info_qos' , default_value = 'default' ),
109+ DeclareLaunchArgument ('enable_depth_auto_exposure_priority' , default_value = 'false' ),
110+ DeclareLaunchArgument ('depth_precision' , default_value = '' ),
111+ DeclareLaunchArgument ('depth_rotation' , default_value = '-1' ),#depth rotation degree : 0, 90, 180, 270
112+ DeclareLaunchArgument ('depth_flip' , default_value = 'false' ),
113+ DeclareLaunchArgument ('depth_mirror' , default_value = 'false' ),
114+ DeclareLaunchArgument ('depth_ae_roi_left' , default_value = '-1' ),
115+ DeclareLaunchArgument ('depth_ae_roi_right' , default_value = '-1' ),
116+ DeclareLaunchArgument ('depth_ae_roi_top' , default_value = '-1' ),
117+ DeclareLaunchArgument ('depth_ae_roi_bottom' , default_value = '-1' ),
118+ DeclareLaunchArgument ('depth_brightness' , default_value = '-1' ),
87119 DeclareLaunchArgument ('left_ir_width' , default_value = '0' ),
88120 DeclareLaunchArgument ('left_ir_height' , default_value = '0' ),
89121 DeclareLaunchArgument ('left_ir_fps' , default_value = '0' ),
90122 DeclareLaunchArgument ('left_ir_format' , default_value = 'ANY' ),
91123 DeclareLaunchArgument ('enable_left_ir' , default_value = 'false' ),
92124 DeclareLaunchArgument ('left_ir_qos' , default_value = 'default' ),
93125 DeclareLaunchArgument ('left_ir_camera_info_qos' , default_value = 'default' ),
126+ DeclareLaunchArgument ('left_ir_rotation' , default_value = '-1' ),#left_ir rotation degree : 0, 90, 180, 270
127+ DeclareLaunchArgument ('left_ir_flip' , default_value = 'false' ),
128+ DeclareLaunchArgument ('left_ir_mirror' , default_value = 'false' ),
129+ DeclareLaunchArgument ('enable_left_ir_sequence_id_filter' , default_value = 'false' ),
130+ DeclareLaunchArgument ('left_ir_sequence_id_filter_id' , default_value = '-1' ),
94131 DeclareLaunchArgument ('right_ir_width' , default_value = '0' ),
95132 DeclareLaunchArgument ('right_ir_height' , default_value = '0' ),
96133 DeclareLaunchArgument ('right_ir_fps' , default_value = '0' ),
97134 DeclareLaunchArgument ('right_ir_format' , default_value = 'ANY' ),
98135 DeclareLaunchArgument ('enable_right_ir' , default_value = 'false' ),
99136 DeclareLaunchArgument ('right_ir_qos' , default_value = 'default' ),
100137 DeclareLaunchArgument ('right_ir_camera_info_qos' , default_value = 'default' ),
138+ DeclareLaunchArgument ('right_ir_rotation' , default_value = '-1' ),#right_ir rotation degree : 0, 90, 180, 270
139+ DeclareLaunchArgument ('right_ir_flip' , default_value = 'false' ),
140+ DeclareLaunchArgument ('right_ir_mirror' , default_value = 'false' ),
141+ DeclareLaunchArgument ('enable_right_ir_sequence_id_filter' , default_value = 'false' ),
142+ DeclareLaunchArgument ('right_ir_sequence_id_filter_id' , default_value = '-1' ),
101143 DeclareLaunchArgument ('enable_ir_auto_exposure' , default_value = 'true' ),
102144 DeclareLaunchArgument ('ir_exposure' , default_value = '-1' ),
103145 DeclareLaunchArgument ('ir_gain' , default_value = '-1' ),
104146 DeclareLaunchArgument ('ir_ae_max_exposure' , default_value = '-1' ),
105147 DeclareLaunchArgument ('ir_brightness' , default_value = '-1' ),
106148 DeclareLaunchArgument ('enable_sync_output_accel_gyro' , default_value = 'false' ),
107149 DeclareLaunchArgument ('enable_accel' , default_value = 'false' ),
150+ DeclareLaunchArgument ('enable_accel_data_correction' , default_value = 'true' ),
108151 DeclareLaunchArgument ('accel_rate' , default_value = '200hz' ),
109152 DeclareLaunchArgument ('accel_range' , default_value = '4g' ),
110153 DeclareLaunchArgument ('enable_gyro' , default_value = 'false' ),
154+ DeclareLaunchArgument ('enable_gyro_data_correction' , default_value = 'true' ),
111155 DeclareLaunchArgument ('gyro_rate' , default_value = '200hz' ),
112156 DeclareLaunchArgument ('gyro_range' , default_value = '1000dps' ),
113157 DeclareLaunchArgument ('liner_accel_cov' , default_value = '0.01' ),
@@ -116,11 +160,19 @@ def generate_launch_description():
116160 DeclareLaunchArgument ('tf_publish_rate' , default_value = '0.0' ),
117161 DeclareLaunchArgument ('ir_info_url' , default_value = '' ),
118162 DeclareLaunchArgument ('color_info_url' , default_value = '' ),
163+ # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
164+ # If you do not want to automatically enumerate network devices,
165+ # you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
166+ DeclareLaunchArgument ('enumerate_net_device' , default_value = 'false' ),
167+ DeclareLaunchArgument ('net_device_ip' , default_value = '' ),
168+ DeclareLaunchArgument ('net_device_port' , default_value = '0' ),
169+ DeclareLaunchArgument ('exposure_range_mode' , default_value = 'default' ),#default, ultimate or regular
119170 DeclareLaunchArgument ('log_level' , default_value = 'none' ),
120171 DeclareLaunchArgument ('enable_publish_extrinsic' , default_value = 'false' ),
121172 DeclareLaunchArgument ('enable_d2c_viewer' , default_value = 'false' ),
122173 DeclareLaunchArgument ('disaparity_to_depth_mode' , default_value = 'HW' ),
123174 DeclareLaunchArgument ('enable_ldp' , default_value = 'true' ),
175+ DeclareLaunchArgument ('ldp_power_level' , default_value = '-1' ),
124176 DeclareLaunchArgument ('sync_mode' , default_value = 'standalone' ),
125177 DeclareLaunchArgument ('depth_delay_us' , default_value = '0' ),
126178 DeclareLaunchArgument ('color_delay_us' , default_value = '0' ),
@@ -129,22 +181,25 @@ def generate_launch_description():
129181 DeclareLaunchArgument ('trigger_out_enabled' , default_value = 'true' ),
130182 DeclareLaunchArgument ('frames_per_trigger' , default_value = '2' ),
131183 DeclareLaunchArgument ('software_trigger_period' , default_value = '33' ), # ms
184+ DeclareLaunchArgument ('enable_ptp_config' , default_value = 'false' ),#Only for Gemini 335Le
132185 DeclareLaunchArgument ('enable_frame_sync' , default_value = 'true' ),
133186 DeclareLaunchArgument ('ordered_pc' , default_value = 'false' ),
134187 DeclareLaunchArgument ('enable_depth_scale' , default_value = 'true' ),
135188 DeclareLaunchArgument ('enable_decimation_filter' , default_value = 'false' ),
136189 DeclareLaunchArgument ('enable_hdr_merge' , default_value = 'false' ),
137190 DeclareLaunchArgument ('enable_sequence_id_filter' , default_value = 'false' ),
138191 DeclareLaunchArgument ('enable_threshold_filter' , default_value = 'false' ),
139- DeclareLaunchArgument ('enable_hardware_noise_removal_filter' , default_value = 'true ' ),
192+ DeclareLaunchArgument ('enable_hardware_noise_removal_filter' , default_value = 'false ' ),
140193 DeclareLaunchArgument ('enable_noise_removal_filter' , default_value = 'true' ),
141194 DeclareLaunchArgument ('enable_spatial_filter' , default_value = 'false' ),
142195 DeclareLaunchArgument ('enable_temporal_filter' , default_value = 'false' ),
196+ DeclareLaunchArgument ('enable_disaparity_to_depth' , default_value = 'true' ),
143197 DeclareLaunchArgument ('enable_hole_filling_filter' , default_value = 'false' ),
144198 DeclareLaunchArgument ('decimation_filter_scale' , default_value = '-1' ),
145199 DeclareLaunchArgument ('sequence_id_filter_id' , default_value = '-1' ),
146200 DeclareLaunchArgument ('threshold_filter_max' , default_value = '-1' ),
147201 DeclareLaunchArgument ('threshold_filter_min' , default_value = '-1' ),
202+ DeclareLaunchArgument ('hardware_noise_removal_filter_threshold' , default_value = '-1.0' ),
148203 DeclareLaunchArgument ('noise_removal_filter_min_diff' , default_value = '256' ),
149204 DeclareLaunchArgument ('noise_removal_filter_max_size' , default_value = '80' ),
150205 DeclareLaunchArgument ('spatial_filter_alpha' , default_value = '-1.0' ),
@@ -159,6 +214,7 @@ def generate_launch_description():
159214 DeclareLaunchArgument ('hdr_merge_exposure_2' , default_value = '-1' ),
160215 DeclareLaunchArgument ('hdr_merge_gain_2' , default_value = '-1' ),
161216 DeclareLaunchArgument ('align_mode' , default_value = 'SW' ),
217+ DeclareLaunchArgument ('align_target_stream' , default_value = 'COLOR' ),# COLOR or DEPTH
162218 DeclareLaunchArgument ('diagnostic_period' , default_value = '1.0' ),
163219 DeclareLaunchArgument ('enable_laser' , default_value = 'true' ),
164220 DeclareLaunchArgument ('depth_precision' , default_value = '' ),
0 commit comments