From 826adb94ddd1a70cbfc99a6a7031d6204ea461fc Mon Sep 17 00:00:00 2001 From: jj <957713278@qq.com> Date: Mon, 12 May 2025 14:42:34 +0800 Subject: [PATCH] Add noise removal filter, decimation filter, spatial filter, temporal filter and hole filling filter --- orbbec_camera/launch/femto_bolt.launch.py | 14 ++++++++++++++ orbbec_camera/launch/femto_mega.launch.py | 14 ++++++++++++++ 2 files changed, 28 insertions(+) diff --git a/orbbec_camera/launch/femto_bolt.launch.py b/orbbec_camera/launch/femto_bolt.launch.py index 7b819fd6..60edc81c 100644 --- a/orbbec_camera/launch/femto_bolt.launch.py +++ b/orbbec_camera/launch/femto_bolt.launch.py @@ -77,7 +77,21 @@ 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_noise_removal_filter', default_value='false'), + DeclareLaunchArgument('enable_decimation_filter', default_value='false'), + DeclareLaunchArgument('enable_spatial_filter', default_value='false'), + DeclareLaunchArgument('enable_temporal_filter', default_value='false'), + DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), DeclareLaunchArgument("enable_threshold_filter", default_value="false"), + DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='10'), + DeclareLaunchArgument('noise_removal_filter_max_size', default_value='50'), + DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), + 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("threshold_filter_max", default_value="-1"), DeclareLaunchArgument("threshold_filter_min", default_value="-1"), DeclareLaunchArgument("sync_mode", default_value="standalone"), diff --git a/orbbec_camera/launch/femto_mega.launch.py b/orbbec_camera/launch/femto_mega.launch.py index fe52473c..00a20a64 100644 --- a/orbbec_camera/launch/femto_mega.launch.py +++ b/orbbec_camera/launch/femto_mega.launch.py @@ -83,7 +83,21 @@ 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_noise_removal_filter', default_value='false'), + DeclareLaunchArgument('enable_decimation_filter', default_value='false'), + DeclareLaunchArgument('enable_spatial_filter', default_value='false'), + DeclareLaunchArgument('enable_temporal_filter', default_value='false'), + DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), DeclareLaunchArgument("enable_threshold_filter", default_value="false"), + DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='10'), + DeclareLaunchArgument('noise_removal_filter_max_size', default_value='50'), + DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), + 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("threshold_filter_max", default_value="-1"), DeclareLaunchArgument("threshold_filter_min", default_value="-1"), DeclareLaunchArgument("sync_mode", default_value="standalone"),