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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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orbbec_camera/launch/gemini2L.launch.py
+3 -2
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@@ -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"),