i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-03 19:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

merge master

Browse Source
This commit is contained in:
lixiaobin
2024-01-02 16:20:48 +08:00
parent 05f95596de edd700d8d1
commit b35caba5a5
62 changed files with 1275 additions and 206 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
+153 -3
View File
@@ -33,6 +33,14 @@
<FrameProcessingBlockQueueSize>10</FrameProcessingBlockQueueSize>
</Memory>
<Misc>
<GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
<!--Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000, minimum value: 100, it is recommended not to be greater than 10000 -->
<GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>
<!--Global timestamp fitter queue size, default value: 10, minimum value: 4 -->
<GlobalTimestampFitterQueueSize>10</GlobalTimestampFitterQueueSize>
</Misc>
<!--Default working configuration of pipeline-->
<Pipeline>
<Stream>
@@ -461,6 +469,10 @@
</DaBaiDCW>
<DaBaiDCW2>
<!-- Depth Filter Params -->
<!--
<DepthFilterDDOConfig>./Openni_device.json</DepthFilterDDOConfig>
-->
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
@@ -498,6 +510,92 @@
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</DaBaiDCW2>
<GeminiEW>
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>Y11</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
<ProfileFilter>
<profile>
<FPS>30</FPS>
</profile>
</ProfileFilter>
</Depth>
<Color>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>480</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>MJPG</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>Y10</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
<ProfileFilter>
<profile>
<FPS>30</FPS>
</profile>
</ProfileFilter>
</IR>
</GeminiEW>
<DaBaiMax>
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>320</Height>
<!--Default frame rate, int type-->
<FPS>10</FPS>
<!--Default frame format-->
<Format>Y12</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Depth>
<Color>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>480</Height>
<!--Default frame rate, int type-->
<FPS>25</FPS>
<!--Default frame format-->
<Format>MJPG</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</Color>
<IR>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>10</FPS>
<!--Default frame format-->
<Format>Y10</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</DaBaiMax>
<DaBaiMaxPro>
<Depth>
<!--The width of the default resolution, int type-->
@@ -627,7 +725,42 @@
<StreamFailedRetry>0</StreamFailedRetry>
</IR>
</DaBaiDW2>
<GeminiEWLite>
<Depth>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>Y11</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
<ProfileFilter>
<profile>
<FPS>30</FPS>
</profile>
</ProfileFilter>
</Depth>
<IR>
<!--The width of the default resolution, int type-->
<Width>640</Width>
<!--The height of the default resolution, int type-->
<Height>400</Height>
<!--Default frame rate, int type-->
<FPS>15</FPS>
<!--Default frame format-->
<Format>Y10</Format>
<!--Whether to retry after open stream failure, 0 means no retry, >=1 retry and how many times to retry-->
<StreamFailedRetry>0</StreamFailedRetry>
<ProfileFilter>
<profile>
<FPS>30</FPS>
</profile>
</ProfileFilter>
</IR>
</GeminiEWLite>
<DaBaiDC1>
<Depth>
<!--The width of the default resolution, int type-->
@@ -1229,6 +1362,11 @@
<DefaultHeartBeat>0</DefaultHeartBeat>
<!--Whether to enable firmware upgrade foolproof by default, only internal version supports-->
<FirmwareUpgradeFoolproof>1</FirmwareUpgradeFoolproof>
<!-- Depth Filter Params -->
<!--
<DepthFilterDDOConfig>./Gemini2_v1.0.json</DepthFilterDDOConfig>
-->
<!--TODO lumiaozi It is cumbersome to consider the recommended configuration in different camera depth modes-->
<!--TODO lumiaozi have to consider the uncorresponding resolutions in different camera depth modes-->
@@ -1294,7 +1432,7 @@
<UnbinnedSparseDefault>
<!--You can configure the default resolution corresponding to the sensor in the current mode here, if not configured, then use the Device node to correspond to the default resolution of the sensor -->
</UnbinnedSparseDefault>
<!--Deep working mode: Binned Sparse Default -->
<!--Deep working mode: Binned Sparse Default -->
<BinnedSparseDefault>
<!--You can configure the default resolution corresponding to the sensor in the current mode here, if not configured, then use the Device node to correspond to the default resolution of the sensor -->
<Depth>
@@ -1316,6 +1454,18 @@
<Format>Y8</Format>
</IR>
</BinnedSparseDefault>
<!-- Deep working mode: Obstacle Avoidance -->
<ObstacleAvoidance>
<Depth>
<!--The resolution width is enabled by default, int type-->
<Width>640</Width>
<!--High resolution is enabled by default, int type-->
<Height>400</Height>
<!--The frame rate of the resolution enabled by default, int type-->
<FPS>15</FPS>
<Format>RLE</Format>
</Depth>
</ObstacleAvoidance>
<FactoryCalibration>
<Color>
<!--The resolution width is enabled by default, int type-->
@@ -2076,7 +2226,7 @@
<StreamInterruptedRestart>5</StreamInterruptedRestart>
<!--The maximum frame interval time, if this value is exceeded, it will be judged that the stream is interrupted-->
<MaxFrameIntervalMs>5000</MaxFrameIntervalMs>
</IR_RIGHT>
</IR_RIGHT>
</BinnedSparseDefault>
<FactoryCalibration>
<Color>
orbbec_camera/config/depthfilter/Gemini2_v1.7.json
+251
View File
@@ -0,0 +1,251 @@
{
"device": "Orbbec Gemini 2",
"structVersion": "0.0.c",
"dataVersion": "1.7.0",
"description": "Gemini2 depth filter params",
"configDate": "20231212",
"vid": "0x2bc5",
"pid": "0x0670",
"depthFilters": [
{
"depthWorkMode": "Unbinned Dense Default",
"width": 1280,
"height":800,
"bxf": 30500,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 200,
"disp_diff": 100,
"type": "NR_OVERALL",
"lut": [
200, 100, 100, 200,
200, 100, 100, 200,
200, 100, 100, 200,
200, 100, 100, 200
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MG_FILTER",
"x1_th": 6,
"x2_th": 6,
"y1_th": 6,
"y2_th": 6,
"limit_x": 70,
"limit_y": 70,
"R": 750,
"width1": 40,
"width2": 40
},
"SpatialFastFilter": {
"enable": false,
"size": 3
},
"SpatialModerateFilter": {
"enable": false,
"size": 3,
"iters": 1,
"disp_diff": 100
},
"SpatialAdvancedFilter": {
"enable": false,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.4,
"disp_diff": 100,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
},
{
"depthWorkMode": "Binned Sparse Default",
"width": 640,
"height":400,
"bxf": 15250,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 50,
"disp_diff": 120,
"type": "NR_OVERALL",
"lut": [
50, 25, 25, 50,
50, 25, 25, 50,
50, 25, 25, 50,
50, 25, 25, 50
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MG_FILTER",
"x1_th": 3,
"x2_th": 3,
"y1_th": 3,
"y2_th": 3,
"limit_x": 35,
"limit_y": 35,
"R": 375,
"width1": 20,
"width2": 20
},
"SpatialFastFilter": {
"enable": false,
"size": 3
},
"SpatialModerateFilter": {
"enable": false,
"size": 3,
"iters": 1,
"disp_diff": 120
},
"SpatialAdvancedFilter": {
"enable": false,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.4,
"disp_diff": 120,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
},
{
"depthWorkMode": "Unbinned Sparse Default",
"width": 1280,
"height": 800,
"bxf": 30500,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 200,
"disp_diff": 100,
"type": "NR_OVERALL",
"lut": [
200, 100, 100, 200,
200, 100, 100, 200,
200, 100, 100, 200,
200, 100, 100, 200
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MG_FILTER",
"x1_th": 6,
"x2_th": 6,
"y1_th": 6,
"y2_th": 6,
"limit_x": 70,
"limit_y": 70,
"R": 750,
"width1": 40,
"width2": 40
},
"SpatialFastFilter": {
"enable": false,
"size": 3
},
"SpatialModerateFilter": {
"enable": false,
"size": 3,
"iters": 1,
"disp_diff": 100
},
"SpatialAdvancedFilter": {
"enable": false,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.4,
"disp_diff": 100,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
},
{
"depthWorkMode": "Obstacle Avoidance",
"width": 640,
"height":400,
"bxf": 30500,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 50,
"disp_diff": 100,
"type": "NR_OVERALL",
"lut": [
50, 25, 25, 50,
50, 25, 25, 50,
50, 25, 25, 50,
50, 25, 25, 50
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MG_FILTER",
"x1_th": 3,
"x2_th": 3,
"y1_th": 3,
"y2_th": 3,
"limit_x": 20,
"limit_y": 20,
"R": 375,
"width1": 20,
"width2": 20
},
"SpatialFastFilter": {
"enable": false,
"size": 5
},
"SpatialModerateFilter": {
"enable": false,
"size": 5,
"iters": 1,
"disp_diff": 100
},
"SpatialAdvancedFilter": {
"enable": true,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.6,
"disp_diff": 100,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
}
]
}
orbbec_camera/config/depthfilter/Openni_device.json
+71
View File
@@ -0,0 +1,71 @@
{
"device": "Orbbec Openni deivce",
"structVersion": "0x0000000a",
"dataVersion": "1.5.0",
"description": "Orbbec openni depth filter params",
"configDate": "20231204",
"vid": "0x2bc5",
"pid": "0x0670",
"depthFilters": [
{
"depthWorkMode": "",
"width": 640,
"height":400,
"bxf": 30500,
"invalid_value":0,
"NoiseRemovalFilter": {
"enable": true,
"size": 50,
"disp_diff": 6,
"type": "NR_LUT",
"lut": [
100, 25, 25, 100,
100, 25, 25, 100,
100, 25, 25, 100,
100, 25, 25, 100
]
},
"EdgeNoiseRemovalFilter": {
"enable": true,
"type": "MGC_FILTER",
"x1_th": 3,
"x2_th": 3,
"y1_th": 0,
"y2_th": 0,
"limit_x": 60,
"limit_y": 60,
"R": 320,
"width1": 40,
"width2": 40
},
"SpatialFastFilter": {
"enable": false,
"size": 3
},
"SpatialModerateFilter": {
"enable": false,
"size": 3,
"iters": 1,
"disp_diff": 100
},
"SpatialAdvancedFilter": {
"enable": false,
"type": "SFA_ALL",
"iters": 1,
"alpha": 0.4,
"disp_diff": 100,
"radius": 5
},
"HoleFillingFilter": {
"enable": false,
"type": "FILL_TOP"
},
"TemporalFilter": {
"enable": false,
"fill": false,
"scale": 0.05,
"weight": 0.4
}
}
]
}