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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
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/launch/dabai_a.launch.py
+1 -1
View File
@@ -96,7 +96,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('depth_brightness', default_value='-1'),
DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
orbbec_camera/launch/dabai_al.launch.py
+1 -1
View File
@@ -96,7 +96,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_depth_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('depth_brightness', default_value='-1'),
DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
orbbec_camera/launch/gemini435_le.launch.py
+1 -1
View File
@@ -113,7 +113,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('depth_brightness', default_value='-1'),
DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
orbbec_camera/launch/gemini_330_series.launch.py
+8 -3
View File
@@ -114,7 +114,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_ae_roi_right', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
DeclareLaunchArgument('depth_brightness', default_value='-1'),
DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'),
DeclareLaunchArgument('left_ir_width', default_value='0'),
DeclareLaunchArgument('left_ir_height', default_value='0'),
DeclareLaunchArgument('left_ir_fps', default_value='0'),
@@ -195,6 +195,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('enable_spatial_fast_filter', default_value='false'),
DeclareLaunchArgument('enable_spatial_moderate_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -213,6 +215,10 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
DeclareLaunchArgument('spatial_fast_filter_radius', default_value='-1'),
DeclareLaunchArgument('spatial_moderate_filter_diff_threshold', default_value='-1'),
DeclareLaunchArgument('spatial_moderate_filter_magnitude', default_value='-1'),
DeclareLaunchArgument('spatial_moderate_filter_radius', default_value='-1'),
DeclareLaunchArgument('align_mode', default_value='SW'),
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
@@ -260,8 +266,7 @@ def generate_launch_description():
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
DeclareLaunchArgument('show_fps_enable', default_value='true'),
DeclareLaunchArgument('show_fps_enable', default_value='false'),
]
def get_params(context, args):