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feat: update depth colorizer implementation and configuration options

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This commit is contained in:
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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orbbec_camera/launch/astra.launch.py
+1 -1
View File
@@ -68,7 +68,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
orbbec_camera/launch/astra2.launch.py
+1 -1
View File
@@ -100,7 +100,7 @@ def generate_launch_description():
DeclareLaunchArgument('temporal_filter_weight', default_value='-1.0'),
DeclareLaunchArgument('hole_filling_filter_mode', default_value=''),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("depth_colorizer_mode", default_value="none"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("ordered_pc", default_value="false"),
DeclareLaunchArgument("enable_depth_scale", default_value="true"),
orbbec_camera/launch/dabai_a.launch.py
+3 -2
View File
@@ -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',
'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -158,7 +159,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/dabai_al.launch.py
+3 -2
View File
@@ -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',
'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -158,7 +159,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/dabai_dcw2.launch.py
+1 -1
View File
@@ -77,7 +77,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='info'),
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
orbbec_camera/launch/dabai_max_pro.launch.py
+1 -1
View File
@@ -86,7 +86,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
orbbec_camera/launch/femto.launch.py
+1 -1
View File
@@ -77,7 +77,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("depth_colorizer_mode", default_value="none"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_frame_sync", default_value="false"),
DeclareLaunchArgument("ordered_pc", default_value="false"),
orbbec_camera/launch/femto_bolt.launch.py
+1 -1
View File
@@ -80,7 +80,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("depth_colorizer_mode", default_value="none"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
orbbec_camera/launch/femto_mega.launch.py
+1 -1
View File
@@ -86,7 +86,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("depth_colorizer_mode", default_value="none"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
orbbec_camera/launch/gemini2.launch.py
+1 -1
View File
@@ -92,7 +92,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("depth_colorizer_mode", default_value="none"),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='SW'),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
orbbec_camera/launch/gemini210.launch.py
+1 -1
View File
@@ -90,7 +90,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("depth_colorizer_mode", default_value="none"),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='SW'),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
orbbec_camera/launch/gemini2L.launch.py
+3 -2
View File
@@ -64,7 +64,8 @@ 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',
"depth_colorizer_mode"}
return {
key: (value if key in skip_convert else convert_value(value))
@@ -146,7 +147,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_file_name", default_value=""),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_depth_colorizer", default_value="false"),
DeclareLaunchArgument("depth_colorizer_mode", default_value="none"),
DeclareLaunchArgument("disparity_to_depth_mode", default_value="SW"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_decimation_filter", default_value="false"),
orbbec_camera/launch/gemini345.launch.py
+3 -2
View File
@@ -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',
'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -157,7 +158,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini345_lg.launch.py
+3 -2
View File
@@ -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',
'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -158,7 +159,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini435_le.launch.py
+3 -2
View File
@@ -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',
'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -188,7 +189,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini_301_series.launch.py
+3 -2
View File
@@ -64,7 +64,8 @@ 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',
'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -206,7 +207,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
orbbec_camera/launch/gemini_330_series.launch.py
+2 -2
View File
@@ -49,7 +49,7 @@ def load_parameters(context, args):
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',
'enhanced_depth_model_path'}
'enhanced_depth_model_path', 'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -212,7 +212,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='false'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+2 -2
View File
@@ -43,7 +43,7 @@ def load_parameters(context, args):
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',
'enhanced_depth_model_path'}
'enhanced_depth_model_path', 'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -199,7 +199,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='false'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
orbbec_camera/launch/gemini_330_series_sdk_json.launch.py
+3 -2
View File
@@ -41,7 +41,8 @@ def load_parameters(context, args):
config_file_path = LaunchConfiguration('config_file_path').perform(context)
if config_file_path:
default_params = merge_params(default_params, load_yaml(config_file_path))
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',
'depth_colorizer_mode'}
result = {}
for key, value in default_params.items():
@@ -113,7 +114,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_frame_drop_log', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('show_fps_enable', default_value='false'),
DeclareLaunchArgument('enumerate_net_device', default_value='true'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+3 -2
View File
@@ -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',
'depth_colorizer_mode'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -117,7 +118,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_file_name', default_value=''),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_depth_colorizer', default_value='false'),
DeclareLaunchArgument('depth_colorizer_mode', default_value='none'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),