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Update filter parameters in astra2.launch.py , gemini2.launch.py and gemini2L.launch.py

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jj
2025-05-12 15:56:37 +08:00
parent 733cbf181d
commit 0a7be79738
3 changed files with 59 additions and 4 deletions
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orbbec_camera/launch/gemini2.launch.py
+19 -2
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@@ -85,8 +85,25 @@ def generate_launch_description():
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
DeclareLaunchArgument("decimation_filter_scale", default_value="-1"),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
DeclareLaunchArgument('spatial_filter_radius', default_value='-1'),
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='-1.0'),
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
DeclareLaunchArgument("depth_filter_config", default_value=""),
# Depth work mode support is as follows: