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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/zh/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -266,6 +266,15 @@
* **`enable_false_positive_filter`**
* 启用鬼影滤波。可减少重影噪声，使用示例和运行时调参方法请参考 [Gemini 330 系列鬼影滤波](../5_advanced_guide/configuration/false_positive_filter.md)。
> **支持模组**：Gemini 330 系列 / Gemini 340 系列。
* **`enable_enhanced_depth`**
* 启用 LingBot 增强深度滤波，默认值为 `false`。该功能需要同时启用 Color 和 Depth，并配置 D2C/C2D 对齐。完整环境、启动和图像要求请参考 [ROS2 EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
> **支持模组**：Gemini 330 系列。
* **`enhanced_depth_model_path`**
* LingBot `model.sm4` 文件路径，默认值为空。启用增强深度滤波时必须设置，建议使用绝对路径；运行时不能更换模型文件。
> **支持模组**：Gemini 330 系列。
* **`enhanced_depth_confidence_threshold`**
* 增强深度滤波的置信度阈值，必须是 `0` 到 `255` 之间的整数，默认值为 `51`。
> **支持模组**：Gemini 330 系列。
* **`enable_fps_boost`**
* 启用设备 FPS Boost。默认值为 `false`；仅在设备支持 `FPS Boost` 属性时生效。
> **支持模组**：Gemini 330 系列。
docs/zh/source/camera_devices/4_application_guide/services.md
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@@ -231,7 +231,7 @@
### 深度滤波器配置
* `/camera/set_filter`
`FalsePositiveFilter` 的启动参数、状态确认和命名参数调参示例可参考 [Gemini 330 系列鬼影滤波](../5_advanced_guide/configuration/false_positive_filter.md)。
`FalsePositiveFilter` 的启动参数、状态确认和命名参数调参示例可参考 [Gemini 330 系列鬼影滤波](../5_advanced_guide/configuration/false_positive_filter.md)。`EnhancedDepthFilter` 的环境要求、启动参数和状态确认方法可参考 [ROS2 EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
```bash
# filter_name 为滤波器名称，filter_enable 表示是否开启滤波器开关。
# filter_param 为旧的按位置传参方式；filter_config 为新的命名参数方式。
@@ -264,6 +264,9 @@
# 设置 FalsePositiveFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: FalsePositiveFilter, filter_enable: true, filter_param: []}'
# 设置 EnhancedDepthFilter: [confidence_threshold]，阈值必须是 0 到 255 之间的整数
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EnhancedDepthFilter, filter_enable: true, filter_param: [60]}'
# 设置 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: []}'
@@ -275,6 +278,7 @@
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'}]}"
# 设置 DispOutliersFilter。search_mode 支持 FULL 或 OFFSET_80，大小写不敏感。
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: DispOutliersFilter, filter_enable: true, filter_config: [{name: search_mode, value: 'FULL'}]}"