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add filter params

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This commit is contained in:
Joe Dong
2024-04-07 15:30:59 +08:00
parent 9a1c6cdec6
commit 9b6b90d9cb
5 changed files with 169 additions and 16 deletions
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orbbec_camera/launch/gemini2R.launch.py
+21
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@@ -87,6 +87,27 @@ def generate_launch_description():
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('enable_spatial_filter', default_value='true'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale_range', default_value='2'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='1'),
DeclareLaunchArgument('threshold_filter_max', default_value='16000'),
DeclareLaunchArgument('threshold_filter_min', default_value='0'),
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='8'),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
DeclareLaunchArgument('spatial_filter_alpha', default_value='0.5'),
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='8'),
DeclareLaunchArgument('spatial_filter_magnitude', default_value='1'),
DeclareLaunchArgument('spatial_filter_radius', default_value='1'),
DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='0.1'),
DeclareLaunchArgument('temporal_filter_weight', default_value='0.4'),
DeclareLaunchArgument('hole_filling_filter_mode', default_value='FILL_TOP'),
]
# Node configuration