TF中 Arg 节点

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TF中 Arg 节点

在 TensorFlow 的计算图中,_Arg 节点(Argument Node)表示函数的输入参数,是计算图中负责接收外部输入数据的节点。它的名字来源于“Argument”(参数),直接对应函数调用时传入的张量(Tensor)。以下是详细的解释和应用场景:


1. _Arg 节点的作用

  • 输入占位_Arg 节点代表计算图的输入接口,类似于 TensorFlow 1.x 中的 tf.placeholder,用于接收外部传入的数据。

  • 动态输入支持:在 TensorFlow 2.x 中,当使用 @tf.function 构建计算图时,外部传入的张量会被自动转换为 _Arg 节点,使得图可以接受不同的输入值(即使传入的是 tf.constant)。

  • 图复用性:通过将输入参数抽象为 _Arg 节点,TensorFlow 可以复用同一张计算图处理不同的输入数据,提升效率。


2. _Arg 节点的生成场景

场景 1:使用 @tf.function 装饰的函数

当函数被 @tf.function 装饰后,外部传入的 tf.Tensor(包括 tf.constant)会被转换为 _Arg 节点:

import tensorflow as tf 

@tf.function
def add(a, b):
    return a + b

# 传入外部张量(生成 _Arg 节点)
a = tf.constant(1.0)
b = tf.constant(2.0)
result = add(a, b)  # a 和 b 对应图中的两个 _Arg 节点
场景 2:TensorFlow 1.x 中的 tf.placeholder

在 TensorFlow 1.x 中,tf.placeholder 的作用类似 _Arg 节点,显式定义输入接口:

# TF1.x 风格的代码
x = tf.placeholder(tf.float32, name="input")
y = x * 2

3. 为什么外部传入的 tf.constant 会变成 _Arg

  • 灵活性设计
    TensorFlow 默认将外部传入的张量视为“动态输入”,即使它是 tf.constant。这是为了支持以下行为:
    • 允许同一张图处理不同的输入值(如多次调用时传入不同的 tf.constant)。
    • 避免因输入值变化而重复构建计算图。
  • 与内部常量的区别
    如果 tf.constant 在函数内部定义,则会直接生成 Const 节点(固定值):
    @tf.function
    def func():
        a = tf.constant(1.0)  # 内部常量,生成 Const 节点
        return a + 1
    

4. 如何区分 _ArgConst 节点?

通过 TensorBoard 可视化计算图,可以看到节点类型:

  • _Arg 节点:标记为 inputdata,对应外部输入。
  • Const 节点:标记为 Const,值在图中固定。

[外链图片转存中…(img-puqnBcGg-1742311507329)]


5. 如何控制节点类型?

方法 1:将常量定义在函数内部

如果希望常量固定为 Const 节点,应在函数内部创建 tf.constant

@tf.function
def func():
    a = tf.constant(1.0)  # 生成 Const 节点
    return a + 1
方法 2:使用 input_signature 固定输入类型

通过 input_signature 显式指定输入形状和类型,避免 TensorFlow 为不同输入生成多个图:

@tf.function(input_signature=[tf.TensorSpec(shape=None, dtype=tf.float32)])
def add(a):
    return a + 1

6. _Arg 节点的设计意义

  • 动态计算图支持
    _Arg 节点是 TensorFlow 2.x 动态图机制(Eager Execution)和静态图优化@tf.function)之间的桥梁。
  • 兼容性
    保留类似 TensorFlow 1.x 的输入接口逻辑,便于代码迁移。

总结

  • _Arg 节点是计算图的输入接口,代表外部传入的张量。
  • 外部传入的 tf.constant 会生成 _Arg 节点,因为 TensorFlow 将其视为动态输入。
  • 内部定义的 tf.constant 生成 Const 节点,值在图中固定。
  • 通过调整代码结构或使用 input_signature,可以控制节点的生成逻辑。

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> <launch> > <arg name="external_manager" default="false"/> > <arg name="manager" default="realsense2_camera_manager"/> > <arg name="serial_no" default=""/> > <arg name="usb_port_id" default=""/> > <arg name="device_type" default=""/> > <arg name="tf_prefix" default=""/> > <arg name="json_file_path" default=""/> > <arg name="rosbag_filename" default=""/> > <arg name="required" default="false"/> > <arg name="output" default="screen"/> <!-- [ screen | log ]--> > <arg name="respawn" default="false"/> > > <arg name="fisheye_width" default="0"/> > <arg name="fisheye_height" default="0"/> > <arg name="enable_fisheye" default="false"/> > <arg name="enable_fisheye1" default="false"/> > <arg name="enable_fisheye2" default="false"/> > > <arg name="depth_width" default="640"/> > <arg name="depth_height" default="480"/> > <arg name="enable_depth" default="true"/> > > <arg name="confidence_width" default="640"/> > <arg name="confidence_height" default="480"/> > <arg name="enable_confidence" default="true"/> > <arg name="confidence_fps" default="30"/> > > <arg name="infra_width" default="640"/> > <arg name="infra_height" default="480"/> > <arg name="enable_infra" default="false"/> > <arg name="enable_infra1" default="false"/> > <arg name="enable_infra2" default="false"/> > <arg name="infra_rgb" default="false"/> > > <arg name="color_width" default="640"/> > <arg name="color_height" default="480"/> > <arg name="enable_color" default="true"/> > > <arg name="fisheye_fps" default="30"/> > <arg name="depth_fps" default="30"/> > <arg name="infra_fps" default="30"/> > <arg name="color_fps" default="30"/> > <arg name="gyro_fps" default="0"/> > <arg name="accel_fps" default="0"/> > <arg name="enable_gyro" default="false"/> > <arg name="enable_accel" default="false"/> > <arg name="enable_pose" default="false"/> > > <arg name="enable_pointcloud" default="false"/> > <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/> <!-- use RS2_STREAM_ANY to avoid using texture --> > <arg name="pointcloud_texture_index" default="0"/> > <arg name="allow_no_texture_points" default="false"/> > <arg name="ordered_pc" default="false"/> > > <arg name="enable_sync" default="false"/> > <arg name="align_depth" default="false"/> > > <arg name="base_frame_id" default="$(arg tf_prefix)_link"/> > <arg name="depth_frame_id" default="$(arg tf_prefix)_depth_frame"/> > <arg name="infra1_frame_id" default="$(arg tf_prefix)_infra1_frame"/> > <arg name="infra2_frame_id" default="$(arg tf_prefix)_infra2_frame"/> > <arg name="color_frame_id" default="$(arg tf_prefix)_color_frame"/> > <arg name="fisheye_frame_id" default="$(arg tf_prefix)_fisheye_frame"/> > <arg name="fisheye1_frame_id" default="$(arg tf_prefix)_fisheye1_frame"/> > <arg name="fisheye2_frame_id" default="$(arg tf_prefix)_fisheye2_frame"/> > <arg name="accel_frame_id" default="$(arg tf_prefix)_accel_frame"/> > <arg name="gyro_frame_id" default="$(arg tf_prefix)_gyro_frame"/> > <arg name="pose_frame_id" default="$(arg tf_prefix)_pose_frame"/> > > <arg name="depth_optical_frame_id" default="$(arg tf_prefix)_depth_optical_frame"/> > <arg name="infra1_optical_frame_id" default="$(arg tf_prefix)_infra1_optical_frame"/> > <arg name="infra2_optical_frame_id" default="$(arg tf_prefix)_infra2_optical_frame"/> > <arg name="color_optical_frame_id" default="$(arg tf_prefix)_color_optical_frame"/> > <arg name="fisheye_optical_frame_id" default="$(arg tf_prefix)_fisheye_optical_frame"/> > <arg name="fisheye1_optical_frame_id" default="$(arg tf_prefix)_fisheye1_optical_frame"/> > <arg name="fisheye2_optical_frame_id" default="$(arg tf_prefix)_fisheye2_optical_frame"/> > <arg name="accel_optical_frame_id" default="$(arg tf_prefix)_accel_optical_frame"/> > <arg name="gyro_optical_frame_id" default="$(arg tf_prefix)_gyro_optical_frame"/> > <arg name="imu_optical_frame_id" default="$(arg tf_prefix)_imu_optical_frame"/> > <arg name="pose_optical_frame_id" default="$(arg tf_prefix)_pose_optical_frame"/> > > <arg name="aligned_depth_to_color_frame_id" default="$(arg tf_prefix)_aligned_depth_to_color_frame"/> > <arg name="aligned_depth_to_infra1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_infra1_frame"/> > <arg name="aligned_depth_to_infra2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_infra2_frame"/> > <arg name="aligned_depth_to_fisheye_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye_frame"/> > <arg name="aligned_depth_to_fisheye1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye1_frame"/> > <arg name="aligned_depth_to_fisheye2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye2_frame"/> > > <arg name="publish_tf" default="true"/> > <arg name="tf_publish_rate" default="0"/> <!-- 0 - static transform --> > > <arg name="odom_frame_id" default="$(arg tf_prefix)_odom_frame"/> > <arg name="topic_odom_in" default="$(arg tf_prefix)/odom_in"/> > <arg name="calib_odom_file" default=""/> > <arg name="publish_odom_tf" default="true"/> > > <arg name="stereo_module/exposure/1" default="7500"/> > <arg name="stereo_module/gain/1" default="16"/> > <arg name="stereo_module/exposure/2" default="1"/> > <arg name="stereo_module/gain/2" default="16"/> > > <arg name="filters" default=""/> > <arg name="clip_distance" default="-1"/> > <arg name="linear_accel_cov" default="0.01"/> > <arg name="initial_reset" default="false"/> > <arg name="reconnect_timeout" default= "6.0"/> > <arg name="wait_for_device_timeout" default= "-1.0"/> > <arg name="unite_imu_method" default="none"/> <!-- Options are: [none, copy, linear_interpolation] --> > > > > <node unless="$(arg external_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" required="$(arg required)" respawn="$(arg respawn)"/> > <node pkg="nodelet" type="nodelet" name="realsense2_camera" args="load realsense2_camera/RealSenseNodeFactory $(arg manager)" required="$(arg required)" respawn="$(arg respawn)"> > <param name="serial_no" type="str" value="$(arg serial_no)"/> > <param name="usb_port_id" type="str" value="$(arg usb_port_id)"/> > <param name="device_type" type="str" value="$(arg device_type)"/> > <param name="json_file_path" type="str" value="$(arg json_file_path)"/> > <param name="rosbag_filename" type="str" value="$(arg rosbag_filename)"/> > > <param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)"/> > <param name="pointcloud_texture_stream" type="str" value="$(arg pointcloud_texture_stream)"/> > <param name="pointcloud_texture_index" type="int" value="$(arg pointcloud_texture_index)"/> > <param name="allow_no_texture_points" type="bool" value="$(arg allow_no_texture_points)"/> > <param name="ordered_pc" type="bool" value="$(arg ordered_pc)"/> > > <param name="enable_sync" type="bool" value="$(arg enable_sync)"/> > <param name="align_depth" type="bool" value="$(arg align_depth)"/> > > <param name="fisheye_width" type="int" value="$(arg fisheye_width)"/> > <param name="fisheye_height" type="int" value="$(arg fisheye_height)"/> > <param name="enable_fisheye" type="bool" value="$(arg enable_fisheye)"/> > <param name="enable_fisheye1" type="bool" value="$(arg enable_fisheye1)"/> > <param name="enable_fisheye2" type="bool" value="$(arg enable_fisheye2)"/> > > <param name="depth_width" type="int" value="$(arg depth_width)"/> > <param name="depth_height" type="int" value="$(arg depth_height)"/> > <param name="enable_depth" type="bool" value="$(arg enable_depth)"/> > > <param name="confidence_width" type="int" value="$(arg confidence_width)"/> > <param name="confidence_height" type="int" value="$(arg confidence_height)"/> > <param name="enable_confidence" type="bool" value="$(arg enable_confidence)"/> > <param name="confidence_fps" type="int" value="$(arg confidence_fps)"/> > > <param name="color_width" type="int" value="$(arg color_width)"/> > <param name="color_height" type="int" value="$(arg color_height)"/> > <param name="enable_color" type="bool" value="$(arg enable_color)"/> > > <param name="infra_width" type="int" value="$(arg infra_width)"/> > <param name="infra_height" type="int" value="$(arg infra_height)"/> > <param name="enable_infra" type="bool" value="$(arg enable_infra)"/> > <param name="enable_infra1" type="bool" value="$(arg enable_infra1)"/> > <param name="enable_infra2" type="bool" value="$(arg enable_infra2)"/> > <param name="infra_rgb" type="bool" value="$(arg infra_rgb)"/> > > <param name="fisheye_fps" type="int" value="$(arg fisheye_fps)"/> > <param name="depth_fps" type="int" value="$(arg depth_fps)"/> > <param name="infra_fps" type="int" value="$(arg infra_fps)"/> > <param name="color_fps" type="int" value="$(arg color_fps)"/> > <param name="gyro_fps" type="int" value="$(arg gyro_fps)"/> > <param name="accel_fps" type="int" value="$(arg accel_fps)"/> > <param name="enable_gyro" type="bool" value="$(arg enable_gyro)"/> > <param name="enable_accel" type="bool" value="$(arg enable_accel)"/> > <param name="enable_pose" type="bool" value="$(arg enable_pose)"/> > > <param name="base_frame_id" type="str" value="$(arg base_frame_id)"/> > <param name="depth_frame_id" type="str" value="$(arg depth_frame_id)"/> > <param name="infra1_frame_id" type="str" value="$(arg infra1_frame_id)"/> > <param name="infra2_frame_id" type="str" value="$(arg infra2_frame_id)"/> > <param name="color_frame_id" type="str" value="$(arg color_frame_id)"/> > <param name="fisheye_frame_id" type="str" value="$(arg fisheye_frame_id)"/> > <param name="fisheye1_frame_id" type="str" value="$(arg fisheye1_frame_id)"/> > <param name="fisheye2_frame_id" type="str" value="$(arg fisheye2_frame_id)"/> > <param name="accel_frame_id" type="str" value="$(arg accel_frame_id)"/> > <param name="gyro_frame_id" type="str" value="$(arg gyro_frame_id)"/> > <param name="pose_frame_id" type="str" value="$(arg pose_frame_id)"/> > > <param name="depth_optical_frame_id" type="str" value="$(arg depth_optical_frame_id)"/> > <param name="infra1_optical_frame_id" type="str" value="$(arg infra1_optical_frame_id)"/> > <param name="infra2_optical_frame_id" type="str" value="$(arg infra2_optical_frame_id)"/> > <param name="color_optical_frame_id" type="str" value="$(arg color_optical_frame_id)"/> > <param name="fisheye_optical_frame_id" type="str" value="$(arg fisheye_optical_frame_id)"/> > <param name="fisheye1_optical_frame_id" type="str" value="$(arg fisheye1_optical_frame_id)"/> > <param name="fisheye2_optical_frame_id" type="str" value="$(arg fisheye2_optical_frame_id)"/> > <param name="accel_optical_frame_id" type="str" value="$(arg accel_optical_frame_id)"/> > <param name="gyro_optical_frame_id" type="str" value="$(arg gyro_optical_frame_id)"/> > <param name="imu_optical_frame_id" type="str" value="$(arg imu_optical_frame_id)"/> > <param name="pose_optical_frame_id" type="str" value="$(arg pose_optical_frame_id)"/> > > <param name="aligned_depth_to_color_frame_id" type="str" value="$(arg aligned_depth_to_color_frame_id)"/> > <param name="aligned_depth_to_infra1_frame_id" type="str" value="$(arg aligned_depth_to_infra1_frame_id)"/> > <param name="aligned_depth_to_infra2_frame_id" type="str" value="$(arg aligned_depth_to_infra2_frame_id)"/> > <param name="aligned_depth_to_fisheye_frame_id" type="str" value="$(arg aligned_depth_to_fisheye_frame_id)"/> > <param name="aligned_depth_to_fisheye1_frame_id" type="str" value="$(arg aligned_depth_to_fisheye1_frame_id)"/> > <param name="aligned_depth_to_fisheye2_frame_id" type="str" value="$(arg aligned_depth_to_fisheye2_frame_id)"/> > > <param name="publish_tf" type="bool" value="$(arg publish_tf)"/> > <param name="tf_publish_rate" type="double" value="$(arg tf_publish_rate)"/> > > <param name="odom_frame_id" type="str" value="$(arg odom_frame_id)"/> > <param name="topic_odom_in" type="str" value="$(arg topic_odom_in)"/> > <param name="calib_odom_file" type="str" value="$(arg calib_odom_file)"/> > <param name="publish_odom_tf" type="bool" value="$(arg publish_odom_tf)"/> > <param name="stereo_module/exposure/1" type="int" value="$(arg stereo_module/exposure/1)"/> > <param name="stereo_module/gain/1" type="int" value="$(arg stereo_module/gain/1)"/> > <param name="stereo_module/exposure/2" type="int" value="$(arg stereo_module/exposure/2)"/> > <param name="stereo_module/gain/2" type="int" value="$(arg stereo_module/gain/2)"/> > > <param name="filters" type="str" value="$(arg filters)"/> > <param name="clip_distance" type="double" value="$(arg clip_distance)"/> > <param name="linear_accel_cov" type="double" value="$(arg linear_accel_cov)"/> > <param name="initial_reset" type="bool" value="$(arg initial_reset)"/> > <param name="reconnect_timeout" type="double" value="$(arg reconnect_timeout)"/> > <param name="wait_for_device_timeout" type="double" value="$(arg wait_for_device_timeout)"/> > <param name="unite_imu_method" type="str" value="$(arg unite_imu_method)"/> > > </node> > </launch> <launch> <arg name="external_manager" default="false"/> <arg name="manager" default="realsense2_camera_manager"/> <arg name="serial_no" default=""/> <arg name="usb_port_id" default=""/> <arg name="device_type" default=""/> <arg name="tf_prefix" default=""/> <arg name="json_file_path" default=""/> <arg name="rosbag_filename" default=""/> <arg name="required" default="false"/> <arg name="output" default="screen"/> <!-- [ screen | log ]--> <arg name="respawn" default="false"/> <arg name="fisheye_width" default="0"/> <arg name="fisheye_height" default="0"/> <arg name="enable_fisheye" default="false"/> <arg name="enable_fisheye1" default="false"/> <arg name="enable_fisheye2" default="false"/> <arg name="depth_width" default="640"/> <arg name="depth_height" default="480"/> <arg name="enable_depth" default="true"/> <arg name="confidence_width" default="640"/> <arg name="confidence_height" default="480"/> <arg name="enable_confidence" default="true"/> <arg name="confidence_fps" default="30"/> <arg name="infra_width" default="640"/> <arg name="infra_height" default="480"/> <arg name="enable_infra" default="false"/> <arg name="enable_infra1" default="false"/> <arg name="enable_infra2" default="false"/> <arg name="infra_rgb" default="false"/> <arg name="color_width" default="640"/> <arg name="color_height" default="480"/> <arg name="enable_color" default="true"/> <arg name="fisheye_fps" default="30"/> <arg name="depth_fps" default="30"/> <arg name="infra_fps" default="30"/> <arg name="color_fps" default="30"/> <arg name="gyro_fps" default="0"/> <arg name="accel_fps" default="0"/> <arg name="enable_gyro" default="false"/> <arg name="enable_accel" default="false"/> <arg name="enable_pose" default="false"/> <arg name="enable_pointcloud" default="false"/> <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/> <!-- use RS2_STREAM_ANY to avoid using texture --> <arg name="pointcloud_texture_index" default="0"/> <arg name="allow_no_texture_points" default="false"/> <arg name="ordered_pc" default="false"/> <arg name="enable_sync" default="false"/> <arg name="align_depth" default="false"/> <arg name="base_frame_id" default="$(arg tf_prefix)_link"/> <arg name="depth_frame_id" default="$(arg tf_prefix)_depth_frame"/> <arg name="infra1_frame_id" default="$(arg tf_prefix)_infra1_frame"/> <arg name="infra2_frame_id" default="$(arg tf_prefix)_infra2_frame"/> <arg name="color_frame_id" default="$(arg tf_prefix)_color_frame"/> <arg name="fisheye_frame_id" default="$(arg tf_prefix)_fisheye_frame"/> <arg name="fisheye1_frame_id" default="$(arg tf_prefix)_fisheye1_frame"/> <arg name="fisheye2_frame_id" default="$(arg tf_prefix)_fisheye2_frame"/> <arg name="accel_frame_id" default="$(arg tf_prefix)_accel_frame"/> <arg name="gyro_frame_id" default="$(arg tf_prefix)_gyro_frame"/> <arg name="pose_frame_id" default="$(arg tf_prefix)_pose_frame"/> <arg name="depth_optical_frame_id" default="$(arg tf_prefix)_depth_optical_frame"/> <arg name="infra1_optical_frame_id" default="$(arg tf_prefix)_infra1_optical_frame"/> <arg name="infra2_optical_frame_id" default="$(arg tf_prefix)_infra2_optical_frame"/> <arg name="color_optical_frame_id" default="$(arg tf_prefix)_color_optical_frame"/> <arg name="fisheye_optical_frame_id" default="$(arg tf_prefix)_fisheye_optical_frame"/> <arg name="fisheye1_optical_frame_id" default="$(arg tf_prefix)_fisheye1_optical_frame"/> <arg name="fisheye2_optical_frame_id" default="$(arg tf_prefix)_fisheye2_optical_frame"/> <arg name="accel_optical_frame_id" default="$(arg tf_prefix)_accel_optical_frame"/> <arg name="gyro_optical_frame_id" default="$(arg tf_prefix)_gyro_optical_frame"/> <arg name="imu_optical_frame_id" default="$(arg tf_prefix)_imu_optical_frame"/> <arg name="pose_optical_frame_id" default="$(arg tf_prefix)_pose_optical_frame"/> <arg name="aligned_depth_to_color_frame_id" default="$(arg tf_prefix)_aligned_depth_to_color_frame"/> <arg name="aligned_depth_to_infra1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_infra1_frame"/> <arg name="aligned_depth_to_infra2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_infra2_frame"/> <arg name="aligned_depth_to_fisheye_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye_frame"/> <arg name="aligned_depth_to_fisheye1_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye1_frame"/> <arg name="aligned_depth_to_fisheye2_frame_id" default="$(arg tf_prefix)_aligned_depth_to_fisheye2_frame"/> <arg name="publish_tf" default="true"/> <arg name="tf_publish_rate" default="0"/> <!-- 0 - static transform --> <arg name="odom_frame_id" default="$(arg tf_prefix)_odom_frame"/> <arg name="topic_odom_in" default="$(arg tf_prefix)/odom_in"/> <arg name="calib_odom_file" default=""/> <arg name="publish_odom_tf" default="true"/> <arg name="stereo_module/exposure/1" default="7500"/> <arg name="stereo_module/gain/1" default="16"/> <arg name="stereo_module/exposure/2" default="1"/> <arg name="stereo_module/gain/2" default="16"/> <arg name="filters" default=""/> <arg name="clip_distance" default="-1"/> <arg name="linear_accel_cov" default="0.01"/> <arg name="initial_reset" default="false"/> <arg name="reconnect_timeout" default= "6.0"/> <arg name="wait_for_device_timeout" default= "-1.0"/> <arg name="unite_imu_method" default="none"/> <!-- Options are: [none, copy, linear_interpolation] --> <node unless="$(arg external_manager)" pkg="nodelet" type="nodelet" name="$(arg manager)" args="manager" output="$(arg output)" required="$(arg required)" respawn="$(arg respawn)"/> <node pkg="nodelet" type="nodelet" name="realsense2_camera" args="load realsense2_camera/RealSenseNodeFactory $(arg manager)" required="$(arg required)" respawn="$(arg respawn)"> <param name="serial_no" type="str" value="$(arg serial_no)"/> <param name="usb_port_id" type="str" value="$(arg usb_port_id)"/> <param name="device_type" type="str" value="$(arg device_type)"/> <param name="json_file_path" type="str" value="$(arg json_file_path)"/> <param name="rosbag_filename" type="str" value="$(arg rosbag_filename)"/> <param name="enable_pointcloud" type="bool" value="$(arg enable_pointcloud)"/> <param name="pointcloud_texture_stream" type="str" value="$(arg pointcloud_texture_stream)"/> <param name="pointcloud_texture_index" type="int" value="$(arg pointcloud_texture_index)"/> <param name="allow_no_texture_points" type="bool" value="$(arg allow_no_texture_points)"/> <param name="ordered_pc" type="bool" value="$(arg ordered_pc)"/> <param name="enable_sync" type="bool" value="$(arg enable_sync)"/> <param name="align_depth" type="bool" value="$(arg align_depth)"/> <param name="fisheye_width" type="int" value="$(arg fisheye_width)"/> <param name="fisheye_height" type="int" value="$(arg fisheye_height)"/> <param name="enable_fisheye" type="bool" value="$(arg enable_fisheye)"/> <param name="enable_fisheye1" type="bool" value="$(arg enable_fisheye1)"/> <param name="enable_fisheye2" type="bool" value="$(arg enable_fisheye2)"/> <param name="depth_width" type="int" value="$(arg depth_width)"/> <param name="depth_height" type="int" value="$(arg depth_height)"/> <param name="enable_depth" type="bool" value="$(arg enable_depth)"/> <param name="confidence_width" type="int" value="$(arg confidence_width)"/> <param name="confidence_height" type="int" value="$(arg confidence_height)"/> <param name="enable_confidence" type="bool" value="$(arg enable_confidence)"/> <param name="confidence_fps" type="int" value="$(arg confidence_fps)"/> <param name="color_width" type="int" value="$(arg color_width)"/> <param name="color_height" type="int" value="$(arg color_height)"/> <param name="enable_color" type="bool" value="$(arg enable_color)"/> <param name="infra_width" type="int" value="$(arg infra_width)"/> <param name="infra_height" type="int" value="$(arg infra_height)"/> <param name="enable_infra" type="bool" value="$(arg enable_infra)"/> <param name="enable_infra1" type="bool" value="$(arg enable_infra1)"/> <param name="enable_infra2" type="bool" value="$(arg enable_infra2)"/> <param name="infra_rgb" type="bool" value="$(arg infra_rgb)"/> <param name="fisheye_fps" type="int" value="$(arg fisheye_fps)"/> <param name="depth_fps" type="int" value="$(arg depth_fps)"/> <param name="infra_fps" type="int" value="$(arg infra_fps)"/> <param name="color_fps" type="int" value="$(arg color_fps)"/> <param name="gyro_fps" type="int" value="$(arg gyro_fps)"/> <param name="accel_fps" type="int" value="$(arg accel_fps)"/> <param name="enable_gyro" type="bool" value="$(arg enable_gyro)"/> <param name="enable_accel" type="bool" value="$(arg enable_accel)"/> <param name="enable_pose" type="bool" value="$(arg enable_pose)"/> <param name="base_frame_id" type="str" value="$(arg base_frame_id)"/> <param name="depth_frame_id" type="str" value="$(arg depth_frame_id)"/> <param name="infra1_frame_id" type="str" value="$(arg infra1_frame_id)"/> <param name="infra2_frame_id" type="str" value="$(arg infra2_frame_id)"/> <param name="color_frame_id" type="str" value="$(arg color_frame_id)"/> <param name="fisheye_frame_id" type="str" value="$(arg fisheye_frame_id)"/> <param name="fisheye1_frame_id" type="str" value="$(arg fisheye1_frame_id)"/> <param name="fisheye2_frame_id" type="str" value="$(arg fisheye2_frame_id)"/> <param name="accel_frame_id" type="str" value="$(arg accel_frame_id)"/> <param name="gyro_frame_id" type="str" value="$(arg gyro_frame_id)"/> <param name="pose_frame_id" type="str" value="$(arg pose_frame_id)"/> <param name="depth_optical_frame_id" type="str" value="$(arg depth_optical_frame_id)"/> <param name="infra1_optical_frame_id" type="str" value="$(arg infra1_optical_frame_id)"/> <param name="infra2_optical_frame_id" type="str" value="$(arg infra2_optical_frame_id)"/> <param name="color_optical_frame_id" type="str" value="$(arg color_optical_frame_id)"/> <param name="fisheye_optical_frame_id" type="str" value="$(arg fisheye_optical_frame_id)"/> <param name="fisheye1_optical_frame_id" type="str" value="$(arg fisheye1_optical_frame_id)"/> <param name="fisheye2_optical_frame_id" type="str" value="$(arg fisheye2_optical_frame_id)"/> <param name="accel_optical_frame_id" type="str" value="$(arg accel_optical_frame_id)"/> <param name="gyro_optical_frame_id" type="str" value="$(arg gyro_optical_frame_id)"/> <param name="imu_optical_frame_id" type="str" value="$(arg imu_optical_frame_id)"/> <param name="pose_optical_frame_id" type="str" value="$(arg pose_optical_frame_id)"/> <param name="aligned_depth_to_color_frame_id" type="str" value="$(arg aligned_depth_to_color_frame_id)"/> <param name="aligned_depth_to_infra1_frame_id" type="str" value="$(arg aligned_depth_to_infra1_frame_id)"/> <param name="aligned_depth_to_infra2_frame_id" type="str" value="$(arg aligned_depth_to_infra2_frame_id)"/> <param name="aligned_depth_to_fisheye_frame_id" type="str" value="$(arg aligned_depth_to_fisheye_frame_id)"/> <param name="aligned_depth_to_fisheye1_frame_id" type="str" value="$(arg aligned_depth_to_fisheye1_frame_id)"/> <param name="aligned_depth_to_fisheye2_frame_id" type="str" value="$(arg aligned_depth_to_fisheye2_frame_id)"/> <param name="publish_tf" type="bool" value="$(arg publish_tf)"/> <param name="tf_publish_rate" type="double" value="$(arg tf_publish_rate)"/> <param name="odom_frame_id" type="str" value="$(arg odom_frame_id)"/> <param name="topic_odom_in" type="str" value="$(arg topic_odom_in)"/> <param name="calib_odom_file" type="str" value="$(arg calib_odom_file)"/> <param name="publish_odom_tf" type="bool" value="$(arg publish_odom_tf)"/> <param name="stereo_module/exposure/1" type="int" value="$(arg stereo_module/exposure/1)"/> <param name="stereo_module/gain/1" type="int" value="$(arg stereo_module/gain/1)"/> <param name="stereo_module/exposure/2" type="int" value="$(arg stereo_module/exposure/2)"/> <param name="stereo_module/gain/2" type="int" value="$(arg stereo_module/gain/2)"/> <param name="filters" type="str" value="$(arg filters)"/> <param name="clip_distance" type="double" value="$(arg clip_distance)"/> <param name="linear_accel_cov" type="double" value="$(arg linear_accel_cov)"/> <param name="initial_reset" type="bool" value="$(arg initial_reset)"/> <param name="reconnect_timeout" type="double" value="$(arg reconnect_timeout)"/> <param name="wait_for_device_timeout" type="double" value="$(arg wait_for_device_timeout)"/> <param name="unite_imu_method" type="str" value="$(arg unite_imu_method)"/> </node> </launch> 这是xml文件,里面哪里可以修改自动曝光
最新发布
11-25
<launch> <arg name="serial_no" default=""/> <arg name="usb_port_id" default=""/> <arg name="device_type" default=""/> <arg name="json_file_path" default=""/> <arg name="camera" default="camera"/> <arg name="tf_prefix" default="$(arg camera)"/> <arg name="external_manager" default="false"/> <arg name="manager" default="realsense2_camera_manager"/> <arg name="output" default="screen"/> <arg name="respawn" default="false"/> <arg name="fisheye_width" default="640"/> <arg name="fisheye_height" default="480"/> <arg name="enable_fisheye" default="false"/> <arg name="depth_width" default="640"/> <arg name="depth_height" default="480"/> <arg name="enable_depth" default="true"/> <arg name="confidence_width" default="640"/> <arg name="confidence_height" default="480"/> <arg name="enable_confidence" default="false"/> <arg name="confidence_fps" default="30"/> <arg name="infra_width" default="640"/> <arg name="infra_height" default="480"/> <arg name="enable_infra" default="true"/> <arg name="enable_infra1" default="true"/> <arg name="enable_infra2" default="true"/> <arg name="infra_rgb" default="false"/> <arg name="color_width" default="640"/> <arg name="color_height" default="480"/> <arg name="enable_color" default="true"/> <arg name="fisheye_fps" default="30"/> <arg name="depth_fps" default="30"/> <arg name="infra_fps" default="30"/> <arg name="color_fps" default="30"/> <arg name="gyro_fps" default="400"/> <arg name="accel_fps" default="250"/> <arg name="enable_gyro" default="false"/> <arg name="enable_accel" default="false"/> <arg name="enable_pointcloud" default="false"/> <arg name="pointcloud_texture_stream" default="RS2_STREAM_COLOR"/> <arg name="pointcloud_texture_index" default="0"/> <arg name="allow_no_texture_points" default="false"/> <arg name="emitter_enable" default="false"/> <!-- rosparam set /camera/stereo_module/emitter_enabled false --> <rosparam> /camera/stereo_module/emitter_enabled: 0 </rosparam> <rosparam if="$(arg emitter_enable)"> /camera/stereo_module/emitter_enabled: 1 </rosparam> <arg name="ordered_pc" default="false"/> <arg name="enable_sync" default="false"/> <arg name="align_depth" default="false"/> <arg name="publish_tf" default="true"/> <arg name="tf_publish_rate" default="0"/> <arg name="filters" default=""/> <arg name="clip_distance" default="-2"/> <arg name="linear_accel_cov" default="0.01"/> <arg name="initial_reset" default="false"/> <arg name="reconnect_timeout" default="6.0"/> <arg name="wait_for_device_timeout" default="-1.0"/> <arg name="unite_imu_method" default=""/> <arg name="topic_odom_in" default="odom_in"/> <arg name="calib_odom_file" default=""/> <arg name="publish_odom_tf" default="true"/> <arg name="stereo_module/exposure/1" default="7500"/> <arg name="stereo_module/gain/1" default="16"/> <arg name="stereo_module/exposure/2" default="1"/> <arg name="stereo_module/gain/2" default="16"/> <group ns="$(arg camera)"> <include file="$(find realsense2_camera)/launch/includes/nodelet.launch.xml"> <arg name="tf_prefix" value="$(arg tf_prefix)"/> <arg name="external_manager" value="$(arg external_manager)"/> <arg name="manager" value="$(arg manager)"/> <arg name="output" value="$(arg output)"/> <arg name="respawn" value="$(arg respawn)"/> <arg name="serial_no" value="$(arg serial_no)"/> <arg name="usb_port_id" value="$(arg usb_port_id)"/> <arg name="device_type" value="$(arg device_type)"/> <arg name="json_file_path" value="$(arg json_file_path)"/> <arg name="enable_pointcloud" value="$(arg enable_pointcloud)"/> <arg name="pointcloud_texture_stream" value="$(arg pointcloud_texture_stream)"/> <arg name="pointcloud_texture_index" value="$(arg pointcloud_texture_index)"/> <arg name="enable_sync" value="$(arg enable_sync)"/> <arg name="align_depth" value="$(arg align_depth)"/> <arg name="fisheye_width" value="$(arg fisheye_width)"/> <arg name="fisheye_height" value="$(arg fisheye_height)"/> <arg name="enable_fisheye" value="$(arg enable_fisheye)"/> <arg name="depth_width" value="$(arg depth_width)"/> <arg name="depth_height" value="$(arg depth_height)"/> <arg name="enable_depth" value="$(arg enable_depth)"/> <arg name="confidence_width" value="$(arg confidence_width)"/> <arg name="confidence_height" value="$(arg confidence_height)"/> <arg name="enable_confidence" value="$(arg enable_confidence)"/> <arg name="confidence_fps" value="$(arg confidence_fps)"/> <arg name="color_width" value="$(arg color_width)"/> <arg name="color_height" value="$(arg color_height)"/> <arg name="enable_color" value="$(arg enable_color)"/> <arg name="infra_width" value="$(arg infra_width)"/> <arg name="infra_height" value="$(arg infra_height)"/> <arg name="enable_infra" value="$(arg enable_infra)"/> <arg name="enable_infra1" value="$(arg enable_infra1)"/> <arg name="enable_infra2" value="$(arg enable_infra2)"/> <arg name="infra_rgb" value="$(arg infra_rgb)"/> <arg name="fisheye_fps" value="$(arg fisheye_fps)"/> <arg name="depth_fps" value="$(arg depth_fps)"/> <arg name="infra_fps" value="$(arg infra_fps)"/> <arg name="color_fps" value="$(arg color_fps)"/> <arg name="gyro_fps" value="$(arg gyro_fps)"/> <arg name="accel_fps" value="$(arg accel_fps)"/> <arg name="enable_gyro" value="$(arg enable_gyro)"/> <arg name="enable_accel" value="$(arg enable_accel)"/> <arg name="publish_tf" value="$(arg publish_tf)"/> <arg name="tf_publish_rate" value="$(arg tf_publish_rate)"/> <arg name="filters" value="$(arg filters)"/> <arg name="clip_distance" value="$(arg clip_distance)"/> <arg name="linear_accel_cov" value="$(arg linear_accel_cov)"/> <arg name="initial_reset" value="$(arg initial_reset)"/> <arg name="reconnect_timeout" value="$(arg reconnect_timeout)"/> <arg name="wait_for_device_timeout" value="$(arg wait_for_device_timeout)"/> <arg name="unite_imu_method" value="$(arg unite_imu_method)"/> <arg name="topic_odom_in" value="$(arg topic_odom_in)"/> <arg name="calib_odom_file" value="$(arg calib_odom_file)"/> <arg name="publish_odom_tf" value="$(arg publish_odom_tf)"/> <arg name="stereo_module/exposure/1" value="$(arg stereo_module/exposure/1)"/> <arg name="stereo_module/gain/1" value="$(arg stereo_module/gain/1)"/> <arg name="stereo_module/exposure/2" value="$(arg stereo_module/exposure/2)"/> <arg name="stereo_module/gain/2" value="$(arg stereo_module/gain/2)"/> <arg name="allow_no_texture_points" value="$(arg allow_no_texture_points)"/> <arg name="ordered_pc" value="$(arg ordered_pc)"/> </include> </group> </launch> 这段代码中哪里是设置曝光的
11-25
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