diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md index 4d50b25e..005eefc6 100644 --- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md @@ -121,7 +121,7 @@ The following are the launch parameters available: * **`color_powerline_freq`** * Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`. * **`color_preset`** - * Set the Color preset for Gemini 330 series devices. Options include `Default` and `Warm Biased AWB`. + * Set the Color preset by name. Supported on Gemini 330 series and Gemini 305 series devices. Common options include `Default`, `Warm Biased AWB`, and `Cold Biased AWB`; the exact list is reported by the device. The name comparison is case-insensitive. * **`color_anti_flicker`** * Enable Color anti-flicker. Supported by Gemini 330 series firmware `1.7.13` and above, and Gemini 305 series firmware `1.0.54` and above. * **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`** @@ -226,6 +226,15 @@ The following are the launch parameters available: * **`enable_false_positive_filter`** * Enable this option to reduce ghosting noise. > **Supported Modules**: DaBaiA / DaBaiAL / Gemini 330 series / Gemini345 / Gemini345Lg +* **`enable_edge_noise_removal_filter`** + * Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames. + > **Supported Modules**: DaBai Max Pro +* **`enable_disp_outliers_filter`** + * Enable DispOutliersFilter to remove disparity outliers in depth frames. + > **Supported Modules**: DaBai Max Pro +* **`disp_outliers_filter_search_mode`** + * Set the DispOutliersFilter search mode. Leave it empty to keep the SDK default. Options: `FULL`, `OFFSET_80`. The value is case-insensitive. + > **Supported Modules**: DaBai Max Pro ### Disparity * **`disparity_to_depth_mode`** * `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion. Use `disable` to turn it off. diff --git a/docs/en/source/camera_devices/4_application_guide/services.md b/docs/en/source/camera_devices/4_application_guide/services.md index 73f69772..142ac91a 100644 --- a/docs/en/source/camera_devices/4_application_guide/services.md +++ b/docs/en/source/camera_devices/4_application_guide/services.md @@ -247,10 +247,16 @@ 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: []}' + # Set EdgeNoiseRemovalFilter: [] + ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EdgeNoiseRemovalFilter, filter_enable: true, filter_param: []}' + # Tune filters with named parameters 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'}]}" + + # 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'}]}" ``` Filter status is updated after service calls on `/camera/depth_filter_status` and `/camera/depth_filters/status`. `/camera/depth_filters/status` uses the structured `orbbec_camera_msgs/msg/DepthFiltersStatus` message and includes each filter's enabled state and parameters. diff --git a/docs/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md b/docs/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md index e3ce6e81..65a652ab 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md +++ b/docs/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md @@ -67,6 +67,8 @@ The configuration file is located at `orbbec_camera/config/gemini2L_dual_ir.yaml > Since the parameter configuration of `Dual Color Streams` mode is quite different from that of `Default` mode, we provide the corresponding YAML configuration file. Please set `config_file_path` to `gemini305_dual_color.yaml`, the configuration file is located in the config directory. +Gemini 305 also supports Color preset selection with the `color_preset` parameter. Set the preset by name, for example `Default`, `Warm Biased AWB`, or `Cold Biased AWB`. The available names are reported by the device. + ## Extended presets ### G33X Close Range High Accuracy (Gemini 330 / Gemini 335 / Gemini 336) diff --git a/docs/en/source/license.md b/docs/en/source/license.md index 30afe30a..eae34160 100755 --- a/docs/en/source/license.md +++ b/docs/en/source/license.md @@ -11,4 +11,6 @@ Unless required by applicable law or agreed to in writing, software distributed AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. +Third-party open-source license files bundled with the Orbbec SDK are installed under `SDK/licenses`. + Other names and brands may be claimed as the property of others. diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md index 2d42709d..39311bc4 100644 --- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md @@ -121,7 +121,7 @@ * **`color_powerline_freq`** * 设置电源线频率。可能的值为 `disable`、`50hz`、`60hz`、`auto`。 * **`color_preset`** - * 设置 Gemini 330 系列设备的彩色预设。可选值包括 `Default` 和 `Warm Biased AWB`。 + * 通过名称设置彩色 preset。Gemini 330 系列和 Gemini 305 系列设备支持。常见可选值包括 `Default`、`Warm Biased AWB`、`Cold Biased AWB`，具体列表以设备返回为准。名称匹配大小写不敏感。 * **`color_anti_flicker`** * 启用彩色防闪烁功能。Gemini 330 系列固件 `1.7.13` 及以上支持；Gemini 305 系列固件 `1.0.54` 及以上支持。 * **`enable_color_decimation_filter`** / **`color_decimation_filter_scale`** @@ -225,6 +225,15 @@ * **`enable_false_positive_filter`** * 启用鬼影滤波。可减少重影噪声。 > **支持模组**：DaBaiA / DaBaiAL / Gemini 330 系列 / Gemini345 / Gemini345Lg。 +* **`enable_edge_noise_removal_filter`** + * 启用 EdgeNoiseRemovalFilter，用于减少深度图边缘噪声。 + > **支持模组**：DaBai Max Pro。 +* **`enable_disp_outliers_filter`** + * 启用 DispOutliersFilter，用于移除深度图中的视差离群点。 + > **支持模组**：DaBai Max Pro。 +* **`disp_outliers_filter_search_mode`** + * 设置 DispOutliersFilter 的搜索模式。留空表示使用 SDK 默认值。可选值：`FULL`、`OFFSET_80`，大小写不敏感。 + > **支持模组**：DaBai Max Pro。 ### 视差 * **`disparity_to_depth_mode`** diff --git a/docs/zh/source/camera_devices/4_application_guide/services.md b/docs/zh/source/camera_devices/4_application_guide/services.md index 76a7ef49..80719bbc 100644 --- a/docs/zh/source/camera_devices/4_application_guide/services.md +++ b/docs/zh/source/camera_devices/4_application_guide/services.md @@ -248,10 +248,16 @@ 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: []}' + # 设置 EdgeNoiseRemovalFilter: [] + ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EdgeNoiseRemovalFilter, filter_enable: true, filter_param: []}' + # 使用 filter_config 按参数名调参 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'}]}" + + # 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'}]}" ``` 滤波状态会在服务调用后同步更新到 `/camera/depth_filter_status` 和 `/camera/depth_filters/status`。其中 `/camera/depth_filters/status` 使用结构化消息 `orbbec_camera_msgs/msg/DepthFiltersStatus`，包含每个滤波器的使能状态和参数。 diff --git a/docs/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md b/docs/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md index 6a8dbc6b..634dd746 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md @@ -67,6 +67,8 @@ ros2 launch orbbec_camera gemini2L.launch.py config_file_path:=gemini2L_dual_ir. > 由于 `Dual Color Streams` 模式的参数配置与 `Default` 模式差异较大，我们提供了对应的 YAML 配置文件。 请将 `config_file_path` 设置为 `gemini305_dual_color`，该配置文件位于 config 目录下。 +Gemini 305 也支持通过 `color_preset` 参数选择彩色 preset。请按名称设置，例如 `Default`、`Warm Biased AWB`、`Cold Biased AWB`，可用名称以设备返回为准。 + ## 扩展预设 ### G33X Close Range High Accuracy（Gemini 330 / Gemini 335 / Gemini 336） @@ -80,4 +82,3 @@ ros2 launch orbbec_camera gemini2L.launch.py config_file_path:=gemini2L_dual_ir. | 预设 | 特点 | 推荐使用场景 | | --- | --- | --- | | G336X AMR Default | 优化其在阳光照射和重复纹理的仓库场景中具有可靠的深度性能
推荐深度分辨率：1280x800 / 640x400 / 424x266 | 仓库AMRs | - diff --git a/docs/zh/source/license.md b/docs/zh/source/license.md index 30afe30a..4194bb49 100755 --- a/docs/zh/source/license.md +++ b/docs/zh/source/license.md @@ -11,4 +11,6 @@ Unless required by applicable law or agreed to in writing, software distributed AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License. +Orbbec SDK 随包附带的第三方开源库 License 文件位于 `SDK/licenses`。 + Other names and brands may be claimed as the property of others.