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feat: update depth colorizer implementation and configuration options

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ob-yalian
2026-08-18 17:36:51 +08:00
parent 475dd3923e
commit afc64cbc70
26 changed files with 144 additions and 59 deletions
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README.MD
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@@ -334,8 +334,8 @@ Launch camera node
source ~/ros2_ws/install/setup.bash
ros2 run orbbec_camera list_devices_node # Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table
# Optional: enable Jet colorized depth on /camera/depth/image_raw
ros2 launch orbbec_camera gemini_330_series.launch.py enable_depth_colorizer:=true
# Optional: publish OrbbecViewer-style colorized depth on /camera/depth/image_raw
ros2 launch orbbec_camera gemini_330_series.launch.py depth_colorizer_mode:=jet
```
- On terminal 2
@@ -369,9 +369,14 @@ ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
For more usage details, please refer to the official [OrbbecSDK ROS2 documentation](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/4_application_guide/application_guide.html)
When `enable_depth_colorizer` is enabled, `depth/image_raw` directly publishes an `rgb8` image
(OpenCV Jet). When disabled, the topic continues to publish the raw `16UC1` depth image; the
colorized image uses a 0--10 m depth range for mapping.
`depth_colorizer_mode` is a string render mode:
- `none`: disable colorization and publish the raw `16UC1` depth image;
- `jet`: use the OrbbecViewer-style dynamic histogram, gamma, and Jet mapping;
- `jet_inv`: use the OrbbecViewer-style inverse Jet mapping;
- `gray`: use the OrbbecViewer-style grayscale mapping;
The `jet` and `jet_inv` modes publish `rgb8`; `gray` publishes `mono8` on `depth/image_raw`.
## Supported Devices