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1.更新orbbecSDK 1.9.1;2.gemini2增加深度滤波配置功能;3.增加IMU同时输出topic.

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lixiaobin
2023-12-20 17:56:37 +08:00
parent 9ddd0a764b
commit 3fd37a7ce5
40 changed files with 1264 additions and 294 deletions
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orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
+411 -210
View File
@@ -33,6 +33,13 @@
<FrameProcessingBlockQueueSize>10</FrameProcessingBlockQueueSize>
</Memory>
<Misc>
<!--Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000, minimum value: 100, it is recommended not to be greater than 10000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!--Global timestamp fitter queue size, default value: 10, minimum value: 4 -->
<GlobalTimestampFitterQueueSize>10</GlobalTimestampFitterQueueSize>
</Misc>
<!--Default working configuration of pipeline-->
<Pipeline>
<Stream>
@@ -461,6 +468,10 @@
</DaBaiDCW>
<DaBaiDCW2>
<!-- Depth Filter Params -->
<!--
<DepthFilterDDOConfig>./Openni_device.json</DepthFilterDDOConfig>
-->
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
@@ -498,7 +509,168 @@
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</DaBaiDCW2>
<GeminiEW>
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>Y11</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
<ProfileFilter>
<profile>
<FPS>30</FPS>
</profile>
</ProfileFilter>
</Depth>
<Color>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>480</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>MJPG</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>Y10</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
<ProfileFilter>
<profile>
<FPS>30</FPS>
</profile>
</ProfileFilter>
</IR>
</GeminiEW>
<DaBaiMax>
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>320</Height>
<!--Default frame rate, int type-->
<FPS>10</FPS>
<!--Default frame format-->
<Format>Y12</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Depth>
<Color>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>480</Height>
<!--Default frame rate, int type-->
<FPS>25</FPS>
<!--Default frame format-->
<Format>MJPG</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>10</FPS>
<!--Default frame format-->
<Format>Y10</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</DaBaiMax>
<DaBaiMaxPro>
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>10</FPS>
<!--Default frame format-->
<Format>Y12</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Depth>
<Color>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>480</Height>
<!--Default frame rate, int type-->
<FPS>25</FPS>
<!--Default frame format-->
<Format>MJPG</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>10</FPS>
<!--Default frame format-->
<Format>Y10</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</DaBaiMaxPro>
<GeminiUW>
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>10</FPS>
<!--Default frame format-->
<Format>Y12</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Depth>
<Color>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>480</Height>
<!--Default frame rate, int type-->
<FPS>25</FPS>
<!--Default frame format-->
<Format>MJPG</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>10</FPS>
<!--Default frame format-->
<Format>Y10</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</GeminiUW>
<DaBaiDW>
<Depth>
<!--The width of the default resolution, int type-->
@@ -552,7 +724,42 @@
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</DaBaiDW2>
<GeminiEWLite>
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>Y11</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
<ProfileFilter>
<profile>
<FPS>30</FPS>
</profile>
</ProfileFilter>
</Depth>
<IR>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>Y10</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
<ProfileFilter>
<profile>
<FPS>30</FPS>
</profile>
</ProfileFilter>
</IR>
</GeminiEWLite>
<DaBaiDC1>
<Depth>
<!--The width of the default resolution, int type-->
@@ -1154,6 +1361,11 @@
<DefaultHeartBeat>0</DefaultHeartBeat>
<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<!-- Depth Filter Params -->
<!--
<DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-->
<!--TODO lumiaozi It is cumbersome to consider the recommended configuration in different camera depth modes-->
<!--TODO lumiaozi have to consider the uncorresponding resolutions in different camera depth modes-->
@@ -1219,7 +1431,7 @@
<UnbinnedSparseDefault>
<!--You can configure the default resolution corresponding to the sensor in the current mode here, if not configured, then use the Device node to correspond to the default resolution of the sensor -->
</UnbinnedSparseDefault>
<!--Deep working mode: Binned Sparse Default -->
<!--Deep working mode: Binned Sparse Default -->
<BinnedSparseDefault>
<!--You can configure the default resolution corresponding to the sensor in the current mode here, if not configured, then use the Device node to correspond to the default resolution of the sensor -->
<Depth>
@@ -1241,6 +1453,18 @@
<Format>Y8</Format>
</IR>
</BinnedSparseDefault>
<!-- Deep working mode: Obstacle Avoidance -->
<ObstacleAvoidance>
<Depth>
<!--The resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High resolution is enabled by default, int type-->
<Height>400</Height>
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>15</FPS>
<Format>RLE</Format>
</Depth>
</ObstacleAvoidance>
<FactoryCalibration>
<Color>
<!--The resolution width is enabled by default, int type-->
@@ -1450,8 +1674,6 @@
<!--Whether to enable heartbeat by default-->
<DefaulHeartBeat>0</DefaulHeartBeat>
<!--TODO lumiaozi It is cumbersome to consider the recommended configuration in different camera depth modes-->
<!--TODO lumiaozi have to consider the uncorresponding resolutions in different camera depth modes-->
<Depth>
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
@@ -1717,407 +1939,386 @@
</OrbbecAstra2>
<!-- Gemini2VL config -->
<OrbbecGemini2VL>
<!-- 默认是否开启心跳 -->
<!--Whether to enable heartbeat by default-->
<DefaulHeartBeat>0</DefaulHeartBeat>
<!-- TODO lumiaozi 要考虑不同相机深度模式下的推荐配置，当然显得繁琐 -->
<!-- TODO lumiaozi 要考虑不同相机深度模式下的没有对应分辨率 -->
<Depth>
<!-- 开流失败重试次数,0表示不重试 -->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 开流等待第一帧数据的超时时间，超过后则本次开流失败 -->
<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<StreamInterruptedRestart>0</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--默认开启分辨率的宽，int类型-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<FPS>30</FPS>
<Format>RLE</Format>
</Depth>
<Color>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>MJPG</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!--默认开启分辨率的宽，int类型-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<FPS>30</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
<IR_LEFT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR_LEFT>
<IR_RIGHT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR_RIGHT>
<!-- 不同相机深度模式下的配置 -->
<BinnedSparseDefault>
<Depth>
<!--默认开启分辨率的宽，int类型-->
<Width>640</Width>
<!--默认开启分辨率的高，int类型-->
<Height>400</Height>
<!--默认开启分辨率的帧率，int类型-->
<FPS>30</FPS>
<Format>RLE</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<StreamFailedRetry>0</StreamFailedRetry>
</Depth>
<IR>
<!--默认开启分辨率的宽，int类型-->
<Width>640</Width>
<!--默认开启分辨率的高，int类型-->
<Height>400</Height>
<!--默认开启分辨率的帧率，int类型-->
<FPS>30</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</BinnedSparseDefault>
<FactoryCalibration>
<!--Configurations in different camera depth modes-->
<BinnedSparseStereoImaging>
<Color>
<!--默认开启分辨率的宽，int类型-->
<Width>1920</Width>
<!--默认开启分辨率的高，int类型-->
<Height>1080</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>MJPG</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR_LEFT>
<!--The resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High resolution is enabled by default, int type-->
<Height>400</Height>
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR_LEFT>
<IR_RIGHT>
<!--The resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High resolution is enabled by default, int type-->
<Height>400</Height>
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR_RIGHT>
</BinnedSparseStereoImaging>
<FactoryCalibration>
<Color>
<!--The resolution width is enabled by default, int type-->
<Width>1920</Width>
<!--High resolution is enabled by default, int type-->
<Height>1080</Height>
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>MJPG</Format>
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR_LEFT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y10</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR_LEFT>
<IR_RIGHT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y10</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR_RIGHT>
</FactoryCalibration>
<In-sceneCalibration>
<Color>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1920</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>1080</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>MJPG</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR_LEFT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR_LEFT>
<IR_RIGHT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>30</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR_RIGHT>
</In-sceneCalibration>
</OrbbecGemini2VL>
<!-- Gemini2XL config -->
<OrbbecGemini2XL>
<!-- 默认是否开启心跳 -->
<!--Whether to enable heartbeat by default-->
<DefaulHeartBeat>0</DefaulHeartBeat>
<!-- TODO lumiaozi 要考虑不同相机深度模式下的推荐配置，当然显得繁琐 -->
<!-- TODO lumiaozi 要考虑不同相机深度模式下的没有对应分辨率 -->
<Depth>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 开流等待第一帧数据的超时时间，超过后则本次开流失败 -->
<!--Open flow waits for the timeout period of the first frame of data, after which the open flow will fail-->
<MaxStartStreamDelayMs>5000</MaxStartStreamDelayMs>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--默认开启分辨率的宽，int类型-->
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>RVL</Format>
</Depth>
<Color>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>MJPG</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</Color>
<IR_LEFT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_LEFT>
<IR_RIGHT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_RIGHT>
<Accel>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</Accel>
<Gyro>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</Gyro>
<!-- 不同相机深度模式下的配置 -->
<!--Configurations in different camera depth modes-->
<BinnedSparseDefault>
<Color>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>20</FPS>
<Format>MJPG</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</Color>
<Depth>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>640</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>400</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>20</FPS>
<Format>RVL</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</Depth>
<IR_LEFT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>640</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>400</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>20</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_LEFT>
<IR_RIGHT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>640</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>400</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>20</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
</IR_RIGHT>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_RIGHT>
</BinnedSparseDefault>
<FactoryCalibration>
<Color>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>MJPG</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</Color>
<IR_LEFT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>Y10</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_LEFT>
<IR_RIGHT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>Y10</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_RIGHT>
</FactoryCalibration>
<In-sceneCalibration>
<Color>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>MJPG</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</Color>
<IR_LEFT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_LEFT>
<IR_RIGHT>
<!--默认开启分辨率的宽，int类型-->
<!--The resolution width is enabled by default, int type-->
<Width>1280</Width>
<!--默认开启分辨率的高，int类型-->
<!--High resolution is enabled by default, int type-->
<Height>800</Height>
<!--默认开启分辨率的帧率，int类型-->
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>10</FPS>
<Format>Y8</Format>
<!-- 开流失败重试次数,0表示不重试 -->
<!--Number of retries for open stream failures, 0 means no retries-->
<StreamFailedRetry>0</StreamFailedRetry>
<!-- 数据流异常中断重启次数, 0表示不重启 -->
<!--The number of data stream restarts due to abnormal interruption, 0 means no restart-->
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!-- 最大帧间隔时间，超过这个值则判断流中断了 -->
<MaxFrameIntervalMs>2000</MaxFrameIntervalMs>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_RIGHT>
</In-sceneCalibration>
</OrbbecGemini2XL>
orbbec_camera/config/depthfilter/Gemini2_v1.7.json
+251
View File
@@ -0,0 +1,251 @@
{
"device": "Orbbec Gemini 2",
"structVersion": "0.0.c",
"dataVersion": "1.7.0",
"description": "Gemini2 depth filter params",
"configDate": "20231212",
"vid": "0x2bc5",
"pid": "0x0670",
"depthFilters": [
{
"depthWorkMode": "Unbinned Dense Default",
"width": 1280,
"height":800,
"bxf": 30500,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 200,
"disp_diff": 100,
"type": "NR_OVERALL",
"lut": [
200, 100, 100, 200,
200, 100, 100, 200,
200, 100, 100, 200,
200, 100, 100, 200
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MG_FILTER",
"x1_th": 6,
"x2_th": 6,
"y1_th": 6,
"y2_th": 6,
"limit_x": 70,
"limit_y": 70,
"R": 750,
"width1": 40,
"width2": 40
},
"SpatialFastFilter": {
"enable": false,
"size": 3
},
"SpatialModerateFilter": {
"enable": false,
"size": 3,
"iters": 1,
"disp_diff": 100
},
"SpatialAdvancedFilter": {
"enable": false,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.4,
"disp_diff": 100,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
},
{
"depthWorkMode": "Binned Sparse Default",
"width": 640,
"height":400,
"bxf": 15250,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 50,
"disp_diff": 120,
"type": "NR_OVERALL",
"lut": [
50, 25, 25, 50,
50, 25, 25, 50,
50, 25, 25, 50,
50, 25, 25, 50
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MG_FILTER",
"x1_th": 3,
"x2_th": 3,
"y1_th": 3,
"y2_th": 3,
"limit_x": 35,
"limit_y": 35,
"R": 375,
"width1": 20,
"width2": 20
},
"SpatialFastFilter": {
"enable": false,
"size": 3
},
"SpatialModerateFilter": {
"enable": false,
"size": 3,
"iters": 1,
"disp_diff": 120
},
"SpatialAdvancedFilter": {
"enable": false,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.4,
"disp_diff": 120,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
},
{
"depthWorkMode": "Unbinned Sparse Default",
"width": 1280,
"height": 800,
"bxf": 30500,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 200,
"disp_diff": 100,
"type": "NR_OVERALL",
"lut": [
200, 100, 100, 200,
200, 100, 100, 200,
200, 100, 100, 200,
200, 100, 100, 200
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MG_FILTER",
"x1_th": 6,
"x2_th": 6,
"y1_th": 6,
"y2_th": 6,
"limit_x": 70,
"limit_y": 70,
"R": 750,
"width1": 40,
"width2": 40
},
"SpatialFastFilter": {
"enable": false,
"size": 3
},
"SpatialModerateFilter": {
"enable": false,
"size": 3,
"iters": 1,
"disp_diff": 100
},
"SpatialAdvancedFilter": {
"enable": false,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.4,
"disp_diff": 100,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
},
{
"depthWorkMode": "Obstacle Avoidance",
"width": 640,
"height":400,
"bxf": 30500,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 50,
"disp_diff": 100,
"type": "NR_OVERALL",
"lut": [
50, 25, 25, 50,
50, 25, 25, 50,
50, 25, 25, 50,
50, 25, 25, 50
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MG_FILTER",
"x1_th": 3,
"x2_th": 3,
"y1_th": 3,
"y2_th": 3,
"limit_x": 20,
"limit_y": 20,
"R": 375,
"width1": 20,
"width2": 20
},
"SpatialFastFilter": {
"enable": false,
"size": 5
},
"SpatialModerateFilter": {
"enable": false,
"size": 5,
"iters": 1,
"disp_diff": 100
},
"SpatialAdvancedFilter": {
"enable": true,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.6,
"disp_diff": 100,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
}
]
}
orbbec_camera/config/depthfilter/Openni_device.json
+71
View File
@@ -0,0 +1,71 @@
{
"device": "Orbbec Openni deivce",
"structVersion": "0x0000000a",
"dataVersion": "1.5.0",
"description": "Orbbec openni depth filter params",
"configDate": "20231204",
"vid": "0x2bc5",
"pid": "0x0670",
"depthFilters": [
{
"depthWorkMode": "",
"width": 640,
"height":400,
"bxf": 30500,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 50,
"disp_diff": 6,
"type": "NR_LUT",
"lut": [
100, 25, 25, 100,
100, 25, 25, 100,
100, 25, 25, 100,
100, 25, 25, 100
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MGC_FILTER",
"x1_th": 3,
"x2_th": 3,
"y1_th": 0,
"y2_th": 0,
"limit_x": 60,
"limit_y": 60,
"R": 320,
"width1": 40,
"width2": 40
},
"SpatialFastFilter": {
"enable": false,
"size": 3
},
"SpatialModerateFilter": {
"enable": false,
"size": 3,
"iters": 1,
"disp_diff": 100
},
"SpatialAdvancedFilter": {
"enable": false,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.4,
"disp_diff": 100,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
}
]
}