feat: add support for undistortion parameters and filters in camera configuration

orbbec_camera/config/common.yaml

@@ -122,6 +122,8 @@ orbbec_ros:
       depth_flip: false
       # If false, the depth scale will not be enabled
       enable_depth_scale: true
+      # If true, the depth image will be undistorted
+      enable_depth_undistortion: false
       # Depth accuracy, the format should be 1mm. The default value is 1mm.
       depth_precision: ""
 
@@ -260,6 +262,8 @@ orbbec_ros:
       left_ir_fps: 0
       # Format of the left IR image. Supported formats are 'Y8'
       left_ir_format: "ANY"
+      # If true, the left IR image will be undistorted
+      enable_left_ir_undistortion: false
 
     rightir:
       # If false, the right IR image will not be enabled
@@ -278,6 +282,8 @@ orbbec_ros:
       right_ir_fps: 0
       # Format of the right IR image. Supported formats are 'Y8'
       right_ir_format: "ANY"
+      # If true, the right IR image will be undistorted
+      enable_right_ir_undistortion: false
 
     ir:
       # If false, the left IR image will not be enabled
@@ -296,6 +302,8 @@ orbbec_ros:
       ir_fps: 0
       # Format of the IR image. Supported formats are 'Y8'
       ir_format: "Y8"
+      # If true, the IR image will be undistorted
+      enable_ir_undistortion: false
 
     ir_parameters:
       # If false, the IR image auto exposure will not be enabled

orbbec_camera/config/gemini305_dual_color.yaml

@@ -74,6 +74,7 @@ left_color_flip: false
 left_color_mirror: false
 enable_left_color_decimation_filter: false
 left_color_decimation_filter_scale: -1
+enable_left_color_undistortion: false
 
 # right_color
 enable_right_color: true
@@ -88,6 +89,7 @@ right_color_flip: false
 right_color_mirror: false
 enable_right_color_decimation_filter: false
 right_color_decimation_filter_scale: -1
+enable_right_color_undistortion: false
 
 # color_common
 enable_color_auto_exposure_priority: false
@@ -111,6 +113,10 @@ color_backlight_compensation: -1
 color_powerline_freq: ""
 color_denoising_level: -1
 enable_color_undistortion: false
+enable_depth_undistortion: false
+enable_ir_undistortion: false
+enable_left_ir_undistortion: false
+enable_right_ir_undistortion: false
 
 # hdr_params
 hdr_index1_depth_exposure: 1
@@ -268,4 +274,3 @@ laser_index0_depth_exposure: 3000
 laser_index0_depth_gain: 16
 laser_index0_ir_brightness: 60
 laser_index0_ir_ae_max_exposure: 30000
-