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feat: add enhanced depth filter support with configuration options

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ob-yalian
2026-06-30 14:17:58 +08:00
parent ad23464af7
commit 9e901979df
4 changed files with 503 additions and 3 deletions
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orbbec_camera/launch/gemini_330_series.launch.py
+5 -1
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@@ -42,7 +42,8 @@ def load_parameters(context, args):
if config_file_path:
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename'}
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
'enhanced_depth_model_path'}
result = {}
for key, value in default_params.items():
@@ -230,6 +231,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'),
DeclareLaunchArgument('enable_spatial_moderate_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='0.20'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),