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Update Orbbec SDK to version 2.4.10 and modify related configurations

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- Updated the OrbbecSDKConfig-release.cmake files for both arm64 and x64 architectures to reference the new SDK version 2.4.10.
- Replaced occurrences of 'depth_brightness' with 'mean_intensity_set_point' in launch files and the camera node header to improve clarity and consistency.
- Added new spatial filtering options (SpatialFastFilter and SpatialModerateFilter) in the camera node implementation, including parameters for radius, magnitude, and difference threshold.
- Updated the setupDevices and setupDepthPostProcessFilter methods to handle the new mean intensity setting and spatial filter parameters.
- Modified launch files for various examples to reflect the new argument names and added new parameters for spatial filtering.
This commit is contained in:
yalian
2025-08-02 00:11:04 +08:00
parent ba9cbc2295
commit d4bbdb4459
31 changed files with 1093 additions and 863 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+7 -2
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@@ -566,7 +566,7 @@ class OBCameraNode {
int depth_ae_roi_top_ = -1;
int depth_ae_roi_right_ = -1;
int depth_ae_roi_bottom_ = -1;
int depth_brightness_ = -1;
int mean_intensity_set_point_ = -1;
int ir_exposure_ = -1;
int ir_gain_ = -1;
int ir_ae_max_exposure_ = -1;
@@ -631,6 +631,8 @@ class OBCameraNode {
bool enable_spatial_filter_ = true;
bool enable_temporal_filter_ = false;
bool enable_hole_filling_filter_ = false;
bool enable_spatial_fast_filter_ = false;
bool enable_spatial_moderate_filter_ = false;
// filter params
int decimation_filter_scale_ = -1;
int sequence_id_filter_id_ = -1;
@@ -653,7 +655,10 @@ class OBCameraNode {
int gmsl_trigger_fd_ = -1;
int gmsl_trigger_fps_ = -1;
bool enable_gmsl_trigger_ = false;
int spatial_fast_filter_radius_ = -1;
int spatial_moderate_filter_radius_ = -1;
int spatial_moderate_filter_diff_threshold_ = -1;
int spatial_moderate_filter_magnitude_ = -1;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr filter_status_pub_;
nlohmann::json filter_status_;
std::string align_mode_ = "HW";