i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-11 06:59:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: add support for colorized depth images in camera node and update launch configurations

Browse Source
This commit is contained in:
ob-yalian
2026-08-18 14:17:26 +08:00
parent 6a44bb965e
commit 475dd3923e
26 changed files with 88 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/astra.launch.py
+1
View File
@@ -68,6 +68,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
orbbec_camera/launch/astra2.launch.py
+1
View File
@@ -100,6 +100,7 @@ def generate_launch_description():
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("ordered_pc", default_value="false"),
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
orbbec_camera/launch/dabai_a.launch.py
+1
View File
@@ -158,6 +158,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/dabai_al.launch.py
+1
View File
@@ -158,6 +158,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/dabai_dcw2.launch.py
+1
View File
@@ -77,6 +77,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='info'),
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
orbbec_camera/launch/dabai_max_pro.launch.py
+1
View File
@@ -86,6 +86,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
orbbec_camera/launch/femto.launch.py
+1
View File
@@ -77,6 +77,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_frame_sync", default_value="false"),
DeclareLaunchArgument("ordered_pc", default_value="false"),
orbbec_camera/launch/femto_bolt.launch.py
+1
View File
@@ -80,6 +80,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
orbbec_camera/launch/femto_mega.launch.py
+1
View File
@@ -86,6 +86,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
orbbec_camera/launch/gemini2.launch.py
+1
View File
@@ -92,6 +92,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='SW'),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
orbbec_camera/launch/gemini210.launch.py
+1
View File
@@ -90,6 +90,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='SW'),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
orbbec_camera/launch/gemini2L.launch.py
+1
View File
@@ -146,6 +146,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("disparity_to_depth_mode", default_value="SW"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
orbbec_camera/launch/gemini345.launch.py
+1
View File
@@ -157,6 +157,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini345_lg.launch.py
+1
View File
@@ -158,6 +158,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini435_le.launch.py
+1
View File
@@ -188,6 +188,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini_301_series.launch.py
+1
View File
@@ -206,6 +206,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
orbbec_camera/launch/gemini_330_series.launch.py
+1
View File
@@ -212,6 +212,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='false'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1
View File
@@ -199,6 +199,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='false'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini_330_series_sdk_json.launch.py
+1
View File
@@ -113,6 +113,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_frame_drop_log', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('show_fps_enable', default_value='false'),
DeclareLaunchArgument('enumerate_net_device', default_value='true'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+1
View File
@@ -117,6 +117,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),