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docs: add EnhancedDepthFilter parameters and usage examples to application guide

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ob-yalian
2026-07-17 10:30:25 +08:00
parent 55b1d8244b
commit 79453634f7
4 changed files with 28 additions and 2 deletions
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -267,6 +267,15 @@ The following are the launch parameters available:
* **`enable_false_positive_filter`**
* Enable this option to reduce ghosting noise. For usage examples and runtime tuning, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md).
> **Supported Modules**: Gemini 330 series / Gemini 340 series
* **`enable_enhanced_depth`**
* Enable LingBot enhanced depth filtering. The default is `false`. Both Color and Depth must be enabled, and D2C/C2D alignment must be configured. For complete environment, startup, and image requirements, see the [ROS2 EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
> **Supported Modules**: Gemini 330 series
* **`enhanced_depth_model_path`**
* Path to the LingBot `model.sm4` file. The default is empty. This parameter is required when enhanced depth filtering is enabled; an absolute path is recommended. The model file cannot be changed at runtime.
> **Supported Modules**: Gemini 330 series
* **`enhanced_depth_confidence_threshold`**
* Confidence threshold for enhanced depth filtering. It must be an integer from `0` to `255`. The default is `51`.
> **Supported Modules**: Gemini 330 series
* **`enable_fps_boost`**
* Enable device FPS Boost. The default is `false`; this parameter only takes effect when the device supports the `FPS Boost` property.
> **Supported Modules**: Gemini 330 series
docs/en/source/camera_devices/4_application_guide/services.md
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@@ -231,7 +231,7 @@
### Depth Filter Configuration
* `/camera/set_filter`
For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md).
For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md). For `EnhancedDepthFilter` environment requirements, startup parameters, and status checks, see the [ROS2 EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
```bash
# filter_name is the filter name, and filter_enable indicates whether the filter is enabled.
# filter_param is the legacy positional parameter form; filter_config is the new named parameter form.
@@ -263,6 +263,9 @@
# Set FalsePositiveFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: FalsePositiveFilter, filter_enable: true, filter_param: []}'
# Set EnhancedDepthFilter: [confidence_threshold]. The threshold must be an integer from 0 to 255.
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EnhancedDepthFilter, filter_enable: true, filter_param: [60]}'
# Set MgcNoiseRemovalFilter / LutNoiseRemovalFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: MgcNoiseRemovalFilter, filter_enable: true, filter_param: []}'
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: LutNoiseRemovalFilter, filter_enable: true, filter_param: []}'
@@ -274,6 +277,7 @@
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: NoiseRemovalFilter, filter_enable: true, filter_config: [{name: min_diff, value: '256'}, {name: max_size, value: '80'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: HardwareNoiseRemovalFilter, filter_enable: true, filter_config: [{name: threshold, value: '0.2'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_config: [{name: alpha, value: '0.5'}, {name: disp_diff, value: '160'}, {name: magnitude, value: '1'}, {name: radius, value: '8'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: EnhancedDepthFilter, filter_enable: true, filter_config: [{name: confidence_threshold, value: '60'}]}"
# Set DispOutliersFilter. search_mode accepts FULL or OFFSET_80, case-insensitive.
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: DispOutliersFilter, filter_enable: true, filter_config: [{name: search_mode, value: 'FULL'}]}"