Update Orbbec SDK to version 2.4.10 and modify related configurations

- 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.

README.MD

@@ -382,9 +382,10 @@ ros2 launch orbbec_camera gemini_330_series.launch.py enable_color:=true color_w
 * **enable_depth_auto_exposure_priority**
   * Enable the Depth auto exposure priority
   * For example:`enable_depth_auto_exposure_priority:=true`
-* **depth_brightness**
+* **mean_intensity_set_point**
-  * Set the Depth brightness
+  * Set the target mean intensity of the Depth image  
-  * For example:`depth_brightness:=100`
+  * For example: `mean_intensity_set_point:=100`  
+  * **Note:** This parameter replaces the deprecated `depth_brightness`.  
 
 [......](./docs/launch_parameters.md)
 

docs/all_available_service_for_camera_control.md

@@ -299,6 +299,14 @@ ros2 service call /camera/set_filter  orbbec_camera_msgs/srv/SetFilter '{filter_
 
 #set HardwareNoiseRemoval
 ros2 service call /camera/set_filter  orbbec_camera_msgs/srv/SetFilter '{filter_name: HardwareNoiseRemoval,filter_enable: true,filter_param: []}'
+
+# Set SpatialFastFilter
+# filter_param: [radius]
+ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}'
+
+# Set SpatialModerateFilter
+# filter_param: [disp_diff, magnitude, radius, ]
+ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'
 ```
 
 * `/camera/set_floor_enable`

docs/launch_parameters.md

@@ -78,8 +78,9 @@ The following are the launch parameters available:
   * Set the Color decimation filter scale
 * **enable_depth_auto_exposure_priority**
   * Enable the Depth auto exposure priority
-* **depth_brightness**
+* **mean_intensity_set_point**
-  * Set the Depth brightness
+  * Set the target mean intensity of the Depth image  
+  * **Note:** This parameter replaces the deprecated `depth_brightness`.  
 * **enable_ir_auto_exposure**
   * Enable the IR auto exposure
 * **ir_exposure**
@@ -185,6 +186,10 @@ The following are the launch parameters available:
   * Enable the Depth temporal filter.The Depth temporal filter setting parameter is `temporal_filter_diff_threshold`,`temporal_filter_weight`
 * **enable_hole_filling_filter**
   * Enable the Depth hole filling filter.The Depth hole filling filter setting parameter is `hole_filling_filter_mode`
+* **enable_spatial_fast_filter**
+  - Enable the Depth spatial fast filter. The Depth spatial fast filter setting parameter is `spatial_fast_filter_radius`.
+* **enable_spatial_moderate_filter**
+  - Enable the Depth spatial moderate filter. The Depth spatial moderate filter setting parameters are `spatial_moderate_filter_diff_threshold`, `spatial_moderate_filter_magnitude`, `spatial_moderate_filter_radius`.
 * **align_mode**
   * The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment
 * **align_target_stream**

orbbec_camera/SDK/include/libobsensor/h/Advanced.h

@@ -88,7 +88,7 @@ OB_EXPORT ob_depth_work_mode ob_depth_work_mode_list_get_item(const ob_depth_wor
 OB_EXPORT void ob_delete_depth_work_mode_list(ob_depth_work_mode_list *work_mode_list, ob_error **error);
 
 /**
- * @breif Get the current preset name.
+ * @brief Get the current preset name.
  * @brief The preset mean a set of parameters or configurations that can be applied to the device to achieve a specific effect or function.
  *
  * @param device The device object.
@@ -273,7 +273,7 @@ OB_EXPORT bool ob_device_frame_interleave_list_has_frame_interleave(ob_device_fr
  *
  * @param device The device object.
  * @param error  Log error messages.
- * @return The available frame interleave list.
+ * @return The available frame resolution config list.
  *
  */
 OB_EXPORT ob_preset_resolution_config_list *ob_device_get_available_preset_resolution_config_list(ob_device *device, ob_error **error);
@@ -294,7 +294,7 @@ OB_EXPORT uint32_t ob_device_preset_resolution_config_get_count(ob_preset_resolu
  * @param error  Log error messages.
  * @return  The preset resolution in the preset resolution list.
  */
-OB_EXPORT OBPresetResolutionConfig ob_device_preset_resolution_config_list_get_item(const ob_preset_resolution_config_list *ob_preset_resolution_config_lis,
+OB_EXPORT OBPresetResolutionConfig ob_device_preset_resolution_config_list_get_item(const ob_preset_resolution_config_list *ob_preset_resolution_config_list,
                                                                                     uint32_t index, ob_error **error);
 
 /**

orbbec_camera/SDK/include/libobsensor/h/Filter.h

@@ -247,7 +247,7 @@ OB_EXPORT ob_filter_config_schema_item ob_filter_config_schema_list_get_item(con
 
 /**
  * @brief Set the align to stream profile for the align filter.
- * @breif It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
+ * @brief It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
  *
  * @param filter A filter object.
  * @param align_to_stream_profile The align target stream profile.

orbbec_camera/SDK/include/libobsensor/h/ObTypes.h

@@ -1010,6 +1010,16 @@ typedef enum {
 } OBHoleFillingMode,
     ob_hole_filling_mode;
 
+typedef struct {
+    uint8_t radius;  // window_size
+} OBSpatialFastFilterParams, ob_spatial_fast_filter_params;
+
+typedef struct {
+    uint8_t  radius;     // window_size
+    uint8_t  magnitude;  // magnitude
+    uint16_t disp_diff;  // smooth_delta
+} OBSpatialModerateFilterParams, ob_spatial_moderate_filter_params;
+
 typedef struct {
     uint8_t  magnitude;  // magnitude
     float    alpha;      // smooth_alpha

orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp

@@ -30,7 +30,7 @@ class DevicePresetList;
 class OBDepthWorkModeList;
 class CameraParamList;
 class DeviceFrameInterleaveList;
-class PresetResolutionConfigeList;
+class PresetResolutionConfigList;
 
 class Device {
 public:
@@ -824,15 +824,15 @@ public:
     }
 
     /**
-     * @brief Get available frame interleave list
+     * @brief Get the available preset resolution config list
      *
-     * @return DeviceFrameInterleaveList return the available frame interleave list.
+     * @return PresetResolutionConfigList return the available preset resolution config list.
      */
-    std::shared_ptr<PresetResolutionConfigeList> getAvailablePresetResolutionConfigeList() const {
+    std::shared_ptr<PresetResolutionConfigList> getAvailablePresetResolutionConfigList() const {
         ob_error *error = nullptr;
         auto      list  = ob_device_get_available_preset_resolution_config_list(impl_, &error);
         Error::handle(&error);
-        return std::make_shared<PresetResolutionConfigeList>(list);
+        return std::make_shared<PresetResolutionConfigList>(list);
     }
 
 private:
@@ -1516,15 +1516,15 @@ public:
 };
 
 /**
- * @brief Class representing a list of device Frame Interleave
+ * @brief Class representing a list of preset resolution config list
  */
-class PresetResolutionConfigeList {
+class PresetResolutionConfigList {
 private:
     ob_preset_resolution_config_list_t *impl_ = nullptr;
 
 public:
-    explicit PresetResolutionConfigeList(ob_preset_resolution_config_list_t *impl) : impl_(impl) {}
+    explicit PresetResolutionConfigList(ob_preset_resolution_config_list_t *impl) : impl_(impl) {}
-    ~PresetResolutionConfigeList() noexcept {
+    ~PresetResolutionConfigList() noexcept {
         ob_error *error = nullptr;
         ob_delete_preset_resolution_config_list(impl_, &error);
         Error::handle(&error, false);

orbbec_camera/SDK/include/libobsensor/hpp/Filter.hpp

@@ -3,8 +3,8 @@
 
 /**
  * @file  Filter.hpp
- * @brief This file contains the Filter class, which is the processing unit of the SDK that can perform point cloud generation, format conversion, and other
+ * @brief This file contains the Filter class, which is the processing unit of the SDK that can
- * functions.
+ * perform point cloud generation, format conversion, and other functions.
  */
 #pragma once
 
@@ -34,30 +34,36 @@ typedef std::function<void(std::shared_ptr<Frame>)> FilterCallback;
 /**
  * @brief Get the type of a PropertyRange member
  */
-template <typename T> struct RangeTraits {
+template <typename T>
+struct RangeTraits {
   using valueType = void;
 };
 
-template <> struct RangeTraits<OBUint8PropertyRange> {
+template <>
+struct RangeTraits<OBUint8PropertyRange> {
   using valueType = uint8_t;
 };
 
-template <> struct RangeTraits<OBUint16PropertyRange> {
+template <>
+struct RangeTraits<OBUint16PropertyRange> {
   using valueType = uint16_t;
 };
 
-template <> struct RangeTraits<OBIntPropertyRange> {
+template <>
+struct RangeTraits<OBIntPropertyRange> {
   using valueType = uint32_t;
 };
 
-template <> struct RangeTraits<OBFloatPropertyRange> {
+template <>
+struct RangeTraits<OBFloatPropertyRange> {
   using valueType = float;
 };
 
 /**
  * @brief Get T Property Range
  */
-template <typename T> T getPropertyRange(const OBFilterConfigSchemaItem &item, const double cur) {
+template <typename T>
+T getPropertyRange(const OBFilterConfigSchemaItem &item, const double cur) {
   // If T type is illegal, T will be void
   using valueType = typename RangeTraits<T>::valueType;
   T range{};
@@ -74,13 +80,13 @@ template <typename T> T getPropertyRange(const OBFilterConfigSchemaItem &item, c
  * @brief The Filter class is the base class for all filters in the SDK.
  */
 class Filter : public std::enable_shared_from_this<Filter> {
-protected:
+ protected:
   ob_filter *impl_ = nullptr;
   std::string name_;
   FilterCallback callback_;
   std::vector<OBFilterConfigSchemaItem> configSchemaVec_;
 
-protected:
+ protected:
   /**
    * @brief Default constructor with nullptr impl, used for derived classes only.
    */
@@ -98,7 +104,7 @@ protected:
     auto count = ob_filter_config_schema_list_get_count(configSchemaList, &error);
     Error::handle(&error);
 
-        for(uint32_t i = 0; i < count; i++) {
+    for (uint32_t i = 0; i < count; i++) {
       auto item = ob_filter_config_schema_list_get_item(configSchemaList, i, &error);
       Error::handle(&error);
       configSchemaVec_.emplace_back(item);
@@ -108,13 +114,11 @@ protected:
     Error::handle(&error);
   }
 
-public:
+ public:
-    explicit Filter(ob_filter *impl) {
+  explicit Filter(ob_filter *impl) { init(impl); }
-        init(impl);
-    }
 
   virtual ~Filter() noexcept {
-        if(impl_ != nullptr) {
+    if (impl_ != nullptr) {
       ob_error *error = nullptr;
       ob_delete_filter(impl_, &error);
       Error::handle(&error, false);
@@ -126,22 +130,18 @@ public:
    *
    * @return ob_filter* The Impl object of the filter.
    */
-    ob_filter *getImpl() const {
+  ob_filter *getImpl() const { return impl_; }
-        return impl_;
-    }
 
   /**
    * @brief Get the type of filter.
    *
    * @return string The type of filte.
    */
-    virtual const std::string &getName() const {
+  virtual const std::string &getName() const { return name_; }
-        return name_;
-    }
 
   /**
-     * @brief Reset the filter, freeing the internal cache, stopping the processing thread, and clearing the pending buffer frame when asynchronous processing
+   * @brief Reset the filter, freeing the internal cache, stopping the processing thread, and
-     * is used.
+   * clearing the pending buffer frame when asynchronous processing is used.
    */
   virtual void reset() const {
     ob_error *error = nullptr;
@@ -178,7 +178,7 @@ public:
     ob_error *error = nullptr;
     auto result = ob_filter_process(impl_, frame->getImpl(), &error);
     Error::handle(&error);
-        if(!result) {
+    if (!result) {
       return nullptr;
     }
     return std::make_shared<Frame>(result);
@@ -209,8 +209,10 @@ public:
 
   /**
    * @brief Get config schema of the filter
-     * @brief The returned string is a csv format string representing the configuration schema of the filter. The format of the string is:
+   * @brief The returned string is a csv format string representing the configuration schema of the
-     *  <parameter_name>, <parameter_type: "int", "float", "bool">, <minimum_value>, <maximum_value>, <value_step>, <default_value>, <parameter_description>
+   * filter. The format of the string is: <parameter_name>, <parameter_type: "int", "float",
+   * "bool">, <minimum_value>, <maximum_value>, <value_step>, <default_value>,
+   * <parameter_description>
    *
    * @return std::string The config schema of the filter.
    */
@@ -223,7 +225,8 @@ public:
 
   /**
    * @brief Get the Config Schema Vec object
-     * @brief The returned vector contains the config schema items. Each item in the vector is an @ref OBFilterConfigSchemaItem object.
+   * @brief The returned vector contains the config schema items. Each item in the vector is an @ref
+   * OBFilterConfigSchemaItem object.
    *
    * @return std::vector<OBFilterConfigSchemaItem> The vector of the filter config schema.
    */
@@ -234,8 +237,9 @@ public:
   /**
    * @brief Set the filter config value by name.
    *
-     * @attention The pass into value type is double, witch will be cast to the actual type inside the filter. The actual type can be queried by the filter
+   * @attention The pass into value type is double, witch will be cast to the actual type inside the
-     * config schema returned by @ref getConfigSchemaVec.
+   * filter. The actual type can be queried by the filter config schema returned by @ref
+   * getConfigSchemaVec.
    *
    * @param configName The name of the config.
    * @param value The value of the config.
@@ -249,7 +253,8 @@ public:
   /**
    * @brief Get the Config Value object by name.
    *
-     * @attention The returned value type has been casted to double inside the filter. The actual type can be queried by the filter config schema returned by
+   * @attention The returned value type has been casted to double inside the filter. The actual type
+   * can be queried by the filter config schema returned by
    * @ref getConfigSchemaVec.
    *
    * @param configName  The name of the config.
@@ -262,17 +267,15 @@ public:
     return value;
   }
 
-private:
+ private:
   static void filterCallback(ob_frame *frame, void *userData) {
     auto filter = static_cast<Filter *>(userData);
     filter->callback_(std::make_shared<Frame>(frame));
   }
 
-public:
+ public:
   // The following interfaces are deprecated and are retained here for compatibility purposes.
-    virtual const char *type() {
+  virtual const char *type() { return getName().c_str(); }
-        return getName().c_str();
-    }
 
   /**
    * @brief Check if the runtime type of the filter object is compatible with a given type.
@@ -280,10 +283,12 @@ public:
    * @tparam T The given type.
    * @return bool The result.
    */
-    template <typename T> bool is();
+  template <typename T>
+  bool is();
 
-    template <typename T> std::shared_ptr<T> as() {
+  template <typename T>
-        if(!is<T>()) {
+  std::shared_ptr<T> as() {
+    if (!is<T>()) {
       throw std::runtime_error("unsupported operation, object's type is not require type");
     }
 
@@ -295,7 +300,7 @@ public:
  *  @brief A factory class for creating filters.
  */
 class FilterFactory {
-public:
+ public:
   /**
    * @brief Create a filter by name.
    */
@@ -308,12 +313,14 @@ public:
 
   /**
    * @brief Create a private filter by name and activation key.
-     * @brief Some private filters require an activation key to be activated, its depends on the vendor of the filter.
+   * @brief Some private filters require an activation key to be activated, its depends on the
+   * vendor of the filter.
    *
    * @param name The name of the filter.
    * @param activationKey The activation key of the filter.
    */
-    static std::shared_ptr<Filter> createPrivateFilter(const std::string &name, const std::string &activationKey) {
+  static std::shared_ptr<Filter> createPrivateFilter(const std::string &name,
+                                                     const std::string &activationKey) {
     ob_error *error = nullptr;
     auto impl = ob_create_private_filter(name.c_str(), activationKey.c_str(), &error);
     Error::handle(&error);
@@ -339,7 +346,7 @@ public:
  * @brief The PointCloudFilter class is a subclass of Filter that generates point clouds.
  */
 class PointCloudFilter : public Filter {
-public:
+ public:
   PointCloudFilter() {
     ob_error *error = nullptr;
     auto impl = ob_create_filter("PointCloudFilter", &error);
@@ -361,26 +368,24 @@ public:
   /**
    * @brief Set the point cloud coordinate data zoom factor.
    *
-     * @brief Calling this function to set the scale will change the point coordinate scaling factor of the output point cloud frame, The point coordinate
+   * @brief Calling this function to set the scale will change the point coordinate scaling factor
-     * scaling factor for the output point cloud frame can be obtained via @ref PointsFrame::getCoordinateValueScale function.
+   * of the output point cloud frame, The point coordinate scaling factor for the output point cloud
+   * frame can be obtained via @ref PointsFrame::getCoordinateValueScale function.
    *
    * @param factor The scale factor.
    */
-    void setCoordinateDataScaled(float factor) {
+  void setCoordinateDataScaled(float factor) { setConfigValue("coordinateDataScale", factor); }
-        setConfigValue("coordinateDataScale", factor);
-    }
 
   /**
    * @brief Set point cloud color data normalization.
-     * @brief If normalization is required, the output point cloud frame's color data will be normalized to the range [0, 1].
+   * @brief If normalization is required, the output point cloud frame's color data will be
+   * normalized to the range [0, 1].
    *
    * @attention This function only works for when create point format is set to OB_FORMAT_RGB_POINT.
    *
    * @param state Whether normalization is required.
    */
-    void setColorDataNormalization(bool state) {
+  void setColorDataNormalization(bool state) { setConfigValue("colorDataNormalization", state); }
-        setConfigValue("colorDataNormalization", state);
-    }
 
   /**
    * @brief Set the point cloud coordinate system.
@@ -391,27 +396,23 @@ public:
     setConfigValue("coordinateSystemType", static_cast<double>(type));
   }
 
-public:
+ public:
   // The following interfaces are deprecated and are retained here for compatibility purposes.
-    void setPositionDataScaled(float scale) {
+  void setPositionDataScaled(float scale) { setCoordinateDataScaled(scale); }
-        setCoordinateDataScaled(scale);
-    }
 
   // The following interfaces are deprecated and are retained here for compatibility purposes.
   void setFrameAlignState(bool state) {
     (void)state;  // to complie
   }
   // The following interfaces are deprecated and are retained here for compatibility purposes.
-    void setCameraParam(OBCameraParam param) {
+  void setCameraParam(OBCameraParam param) { (void)param; }
-        (void)param;
-    }
 };
 
 /**
  * @brief Align for depth to other or other to depth.
  */
 class Align : public Filter {
-public:
+ public:
   Align(OBStreamType alignToStreamType) {
     ob_error *error = nullptr;
     auto impl = ob_create_filter("Align", &error);
@@ -429,21 +430,20 @@ public:
 
   /**
    * @brief Sets whether the output frame resolution should match the target resolution.
-     *        When enabled, the output frame resolution will be adjusted to match (same as) the target resolution.
+   *        When enabled, the output frame resolution will be adjusted to match (same as) the target
-     *        When disabled, the output frame resolution will match the original resolution while maintaining
+   * resolution. When disabled, the output frame resolution will match the original resolution while
-     *        the aspect ratio of the target resolution.
+   * maintaining the aspect ratio of the target resolution.
    *
    *
-     * @param state If true, output frame resolution will match the target resolution; otherwise, it will
+   * @param state If true, output frame resolution will match the target resolution; otherwise, it
-     *              maintain the original resolution with the target's aspect ratio.
+   * will maintain the original resolution with the target's aspect ratio.
    */
-    void setMatchTargetResolution(bool state) {
+  void setMatchTargetResolution(bool state) { setConfigValue("MatchTargetRes", state); }
-        setConfigValue("MatchTargetRes", state);
-    }
 
   /**
    * @brief Set the Align To Stream Profile
-     * @brief  It is useful when the align target stream dose not started (without any frame to get intrinsics and extrinsics).
+   * @brief  It is useful when the align target stream dose not started (without any frame to get
+   * intrinsics and extrinsics).
    *
    * @param profile The Align To Stream Profile.
    */
@@ -458,7 +458,7 @@ public:
  * @brief The FormatConvertFilter class is a subclass of Filter that performs format conversion.
  */
 class FormatConvertFilter : public Filter {
-public:
+ public:
   FormatConvertFilter() {
     ob_error *error = nullptr;
     auto impl = ob_create_filter("FormatConverter", &error);
@@ -484,7 +484,7 @@ public:
  * different sub-preset sequence ids.
  */
 class HdrMerge : public Filter {
-public:
+ public:
   HdrMerge() {
     ob_error *error = nullptr;
     auto impl = ob_create_filter("HDRMerge", &error);
@@ -499,23 +499,24 @@ public:
  * @brief Create SequenceIdFilter processing block.
  */
 class SequenceIdFilter : public Filter {
-private:
+ private:
-    std::map<float, std::string> sequenceIdList_{ { 0.f, "all" }, { 1.f, "1" } };
+  std::map<float, std::string> sequenceIdList_{{0.f, "all"}, {1.f, "1"}};
   OBSequenceIdItem *outputSequenceIdList_ = nullptr;
 
   void initSequenceIdList() {
     outputSequenceIdList_ = new OBSequenceIdItem[sequenceIdList_.size()];
 
     int i = 0;
-        for(const auto &pair: sequenceIdList_) {
+    for (const auto &pair : sequenceIdList_) {
       outputSequenceIdList_[i].sequenceSelectId = static_cast<int>(pair.first);
-            strncpy(outputSequenceIdList_[i].name, pair.second.c_str(), sizeof(outputSequenceIdList_[i].name) - 1);
+      strncpy(outputSequenceIdList_[i].name, pair.second.c_str(),
+              sizeof(outputSequenceIdList_[i].name) - 1);
       outputSequenceIdList_[i].name[sizeof(outputSequenceIdList_[i].name) - 1] = '\0';
       ++i;
     }
   }
 
-public:
+ public:
   SequenceIdFilter() {
     ob_error *error = nullptr;
     auto impl = ob_create_filter("SequenceIdFilter", &error);
@@ -525,7 +526,7 @@ public:
   }
 
   virtual ~SequenceIdFilter() noexcept override {
-        if(outputSequenceIdList_) {
+    if (outputSequenceIdList_) {
       delete[] outputSequenceIdList_;
       outputSequenceIdList_ = nullptr;
     }
@@ -545,29 +546,23 @@ public:
    *
    * @return sequence id to pass the filter.
    */
-    int getSelectSequenceId() {
+  int getSelectSequenceId() { return static_cast<int>(getConfigValue("sequenceid")); }
-        return static_cast<int>(getConfigValue("sequenceid"));
-    }
 
-    OBSequenceIdItem *getSequenceIdList() {
+  OBSequenceIdItem *getSequenceIdList() { return outputSequenceIdList_; }
-        return outputSequenceIdList_;
-    }
 
   /**
    * @brief Get the sequenceId list size.
    *
    * @return the size of sequenceId list.
    */
-    int getSequenceIdListSize() {
+  int getSequenceIdListSize() { return static_cast<int>(sequenceIdList_.size()); }
-        return static_cast<int>(sequenceIdList_.size());
-    }
 };
 
 /**
  * @brief Decimation filter, reducing complexity by subsampling depth maps and losing depth details.
  */
 class DecimationFilter : public Filter {
-public:
+ public:
   DecimationFilter() {
     ob_error *error = nullptr;
     auto impl = ob_create_filter("DecimationFilter", &error);
@@ -582,23 +577,19 @@ public:
    *
    * @param value The decimation filter scale value.
    */
-    void setScaleValue(uint8_t value) {
+  void setScaleValue(uint8_t value) { setConfigValue("decimate", static_cast<double>(value)); }
-        setConfigValue("decimate", static_cast<double>(value));
-    }
 
   /**
    * @brief Get the decimation filter scale value.
    */
-    uint8_t getScaleValue() {
+  uint8_t getScaleValue() { return static_cast<uint8_t>(getConfigValue("decimate")); }
-        return static_cast<uint8_t>(getConfigValue("decimate"));
-    }
 
   /**
    * @brief Get the property range of the decimation filter scale value.
    */
   OBUint8PropertyRange getScaleRange() {
     OBUint8PropertyRange scaleRange{};
-        if(configSchemaVec_.size() != 0) {
+    if (configSchemaVec_.size() != 0) {
       const auto &item = configSchemaVec_[0];
       scaleRange = getPropertyRange<OBUint8PropertyRange>(item, getConfigValue("decimate"));
     }
@@ -611,7 +602,7 @@ public:
  * By controlling min and max options on the block
  */
 class ThresholdFilter : public Filter {
-public:
+ public:
   ThresholdFilter() {
     ob_error *error = nullptr;
     auto impl = ob_create_filter("ThresholdFilter", &error);
@@ -629,8 +620,8 @@ public:
   OBIntPropertyRange getMinRange() {
     OBIntPropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "min") == 0) {
+      if (strcmp(item.name, "min") == 0) {
         range = getPropertyRange<OBIntPropertyRange>(item, getConfigValue("min"));
         break;
       }
@@ -646,8 +637,8 @@ public:
   OBIntPropertyRange getMaxRange() {
     OBIntPropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "max") == 0) {
+      if (strcmp(item.name, "max") == 0) {
         range = getPropertyRange<OBIntPropertyRange>(item, getConfigValue("max"));
         break;
       }
@@ -659,7 +650,7 @@ public:
    * @brief Set the threshold filter max and min range.
    */
   bool setValueRange(uint16_t min, uint16_t max) {
-        if(min >= max) {
+    if (min >= max) {
       return false;
     }
     setConfigValue("min", min);
@@ -669,12 +660,12 @@ public:
 };
 
 /**
- * @brief Spatial advanced filte smooths the image by calculating frame with alpha and delta settings
+ * @brief Spatial advanced filte smooths the image by calculating frame with alpha and delta
- * alpha defines the weight of the current pixel for smoothing,
+ * settings alpha defines the weight of the current pixel for smoothing, delta defines the depth
- * delta defines the depth gradient below which the smoothing will occur as number of depth levels.
+ * gradient below which the smoothing will occur as number of depth levels.
  */
 class SpatialAdvancedFilter : public Filter {
-public:
+ public:
   SpatialAdvancedFilter(const std::string &activationKey = "") {
     ob_error *error = nullptr;
     auto impl = ob_create_private_filter("SpatialAdvancedFilter", activationKey.c_str(), &error);
@@ -692,8 +683,8 @@ public:
   OBFloatPropertyRange getAlphaRange() {
     OBFloatPropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "alpha") == 0) {
+      if (strcmp(item.name, "alpha") == 0) {
         range = getPropertyRange<OBFloatPropertyRange>(item, getConfigValue("alpha"));
         break;
       }
@@ -709,8 +700,8 @@ public:
   OBUint16PropertyRange getDispDiffRange() {
     OBUint16PropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "disp_diff") == 0) {
+      if (strcmp(item.name, "disp_diff") == 0) {
         range = getPropertyRange<OBUint16PropertyRange>(item, getConfigValue("disp_diff"));
         break;
       }
@@ -726,8 +717,8 @@ public:
   OBUint16PropertyRange getRadiusRange() {
     OBUint16PropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "radius") == 0) {
+      if (strcmp(item.name, "radius") == 0) {
         range = getPropertyRange<OBUint16PropertyRange>(item, getConfigValue("radius"));
         break;
       }
@@ -743,8 +734,8 @@ public:
   OBIntPropertyRange getMagnitudeRange() {
     OBIntPropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "magnitude") == 0) {
+      if (strcmp(item.name, "magnitude") == 0) {
         range = getPropertyRange<OBIntPropertyRange>(item, getConfigValue("magnitude"));
         break;
       }
@@ -779,11 +770,155 @@ public:
   }
 };
 
+/**
+ * @brief The Spatial Fast Filter utilizes an enhanced median smoothing algorithm,
+ * designed to significantly reduce CPU usage and optimize processing efficiency.
+ */
+class SpatialFastFilter : public Filter {
+ public:
+  SpatialFastFilter(const std::string &activationKey = "") {
+    ob_error *error = nullptr;
+    auto impl = ob_create_private_filter("SpatialFastFilter", activationKey.c_str(), &error);
+    Error::handle(&error);
+    init(impl);
+  }
+
+  virtual ~SpatialFastFilter() noexcept override = default;
+
+  /**
+   * @brief Get the spatial fast filter radius range.
+   *
+   * @return OBIntPropertyRange the radius value of property range.
+   */
+  OBIntPropertyRange getRadiusRange() {
+    OBIntPropertyRange range{};
+    const auto &schemaVec = getConfigSchemaVec();
+    for (const auto &item : schemaVec) {
+      if (strcmp(item.name, "radius") == 0) {
+        range = getPropertyRange<OBIntPropertyRange>(item, getConfigValue("radius"));
+        break;
+      }
+    }
+    return range;
+  }
+
+  /**
+   * @brief Get the spatial fast filter params.
+   *
+   * @return OBSpatialFastFilterParams
+   */
+  OBSpatialFastFilterParams getFilterParams() {
+    OBSpatialFastFilterParams params{};
+    params.radius = static_cast<uint8_t>(getConfigValue("radius"));
+    return params;
+  }
+
+  /**
+   * @brief Set the spatial fast filter params.
+   *
+   * @param params OBSpatialFastFilterParams.
+   */
+  void setFilterParams(OBSpatialFastFilterParams params) {
+    setConfigValue("radius", params.radius);
+  }
+};
+
+/**
+ * @brief The Spatial Moderate Filter utilizes an optimized average smoothing algorithm,
+ * to achieve a balance between processing speed and the quality of smoothing achieved.
+ */
+class SpatialModerateFilter : public Filter {
+ public:
+  SpatialModerateFilter(const std::string &activationKey = "") {
+    ob_error *error = nullptr;
+    auto impl = ob_create_private_filter("SpatialModerateFilter", activationKey.c_str(), &error);
+    Error::handle(&error);
+    init(impl);
+  }
+
+  virtual ~SpatialModerateFilter() noexcept override = default;
+
+  /**
+   * @brief Get the spatial moderate filter magnitude range.
+   *
+   * @return OBIntPropertyRange the magnitude value of property range.
+   */
+  OBIntPropertyRange getMagnitudeRange() {
+    OBIntPropertyRange range{};
+    const auto &schemaVec = getConfigSchemaVec();
+    for (const auto &item : schemaVec) {
+      if (strcmp(item.name, "magnitude") == 0) {
+        range = getPropertyRange<OBIntPropertyRange>(item, getConfigValue("magnitude"));
+        break;
+      }
+    }
+    return range;
+  }
+
+  /**
+   * @brief Get the spatial moderate filter radius range.
+   *
+   * @return OBIntPropertyRange the radius value of property range.
+   */
+  OBIntPropertyRange getRadiusRange() {
+    OBIntPropertyRange range{};
+    const auto &schemaVec = getConfigSchemaVec();
+    for (const auto &item : schemaVec) {
+      if (strcmp(item.name, "radius") == 0) {
+        range = getPropertyRange<OBIntPropertyRange>(item, getConfigValue("radius"));
+        break;
+      }
+    }
+    return range;
+  }
+
+  /**
+   * @brief Get the spatial moderate filter disp diff range.
+   *
+   * @return OBIntPropertyRange the disp diff value of property range.
+   */
+  OBIntPropertyRange getDispDiffRange() {
+    OBIntPropertyRange range{};
+    const auto &schemaVec = getConfigSchemaVec();
+    for (const auto &item : schemaVec) {
+      if (strcmp(item.name, "disp_diff") == 0) {
+        range = getPropertyRange<OBIntPropertyRange>(item, getConfigValue("disp_diff"));
+        break;
+      }
+    }
+    return range;
+  }
+
+  /**
+   * @brief Get the spatial moderate filter params.
+   *
+   * @return OBSpatialModerateFilterParams
+   */
+  OBSpatialModerateFilterParams getFilterParams() {
+    OBSpatialModerateFilterParams params{};
+    params.magnitude = static_cast<uint8_t>(getConfigValue("magnitude"));
+    params.radius = static_cast<uint8_t>(getConfigValue("radius"));
+    params.disp_diff = static_cast<uint16_t>(getConfigValue("disp_diff"));
+    return params;
+  }
+
+  /**
+   * @brief Set the spatial moderate filter params.
+   *
+   * @param params OBSpatialModerateFilterParams.
+   */
+  void setFilterParams(OBSpatialModerateFilterParams params) {
+    setConfigValue("magnitude", params.magnitude);
+    setConfigValue("radius", params.radius);
+    setConfigValue("disp_diff", params.disp_diff);
+  }
+};
+
 /**
  * @brief Hole filling filter,the processing performed depends on the selected hole filling mode.
  */
 class HoleFillingFilter : public Filter {
-public:
+ public:
   HoleFillingFilter(const std::string &activationKey = "") {
     ob_error *error = nullptr;
     auto impl = ob_create_private_filter("HoleFillingFilter", activationKey.c_str(), &error);
@@ -816,7 +951,7 @@ public:
  * @brief The noise removal filter,removing scattering depth pixels.
  */
 class NoiseRemovalFilter : public Filter {
-public:
+ public:
   NoiseRemovalFilter(const std::string &activationKey = "") {
     ob_error *error = nullptr;
     auto impl = ob_create_private_filter("NoiseRemovalFilter", activationKey.c_str(), &error);
@@ -857,8 +992,8 @@ public:
   OBUint16PropertyRange getDispDiffRange() {
     OBUint16PropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "min_diff") == 0) {
+      if (strcmp(item.name, "min_diff") == 0) {
         range = getPropertyRange<OBUint16PropertyRange>(item, getConfigValue("min_diff"));
         break;
       }
@@ -873,8 +1008,8 @@ public:
   OBUint16PropertyRange getMaxSizeRange() {
     OBUint16PropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "max_size") == 0) {
+      if (strcmp(item.name, "max_size") == 0) {
         range = getPropertyRange<OBUint16PropertyRange>(item, getConfigValue("max_size"));
         break;
       }
@@ -887,7 +1022,7 @@ public:
  * @brief Temporal filter
  */
 class TemporalFilter : public Filter {
-public:
+ public:
   TemporalFilter(const std::string &activationKey = "") {
     ob_error *error = nullptr;
     auto impl = ob_create_private_filter("TemporalFilter", activationKey.c_str(), &error);
@@ -905,8 +1040,8 @@ public:
   OBFloatPropertyRange getDiffScaleRange() {
     OBFloatPropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "diff_scale") == 0) {
+      if (strcmp(item.name, "diff_scale") == 0) {
         range = getPropertyRange<OBFloatPropertyRange>(item, getConfigValue("diff_scale"));
         break;
       }
@@ -919,9 +1054,7 @@ public:
    *
    * @param value diffscale value.
    */
-    void setDiffScale(float value) {
+  void setDiffScale(float value) { setConfigValue("diff_scale", static_cast<double>(value)); }
-        setConfigValue("diff_scale", static_cast<double>(value));
-    }
 
   /**
    * @brief Get the TemporalFilter weight range.
@@ -931,8 +1064,8 @@ public:
   OBFloatPropertyRange getWeightRange() {
     OBFloatPropertyRange range{};
     const auto &schemaVec = getConfigSchemaVec();
-        for(const auto &item: schemaVec) {
+    for (const auto &item : schemaVec) {
-            if(strcmp(item.name, "weight") == 0) {
+      if (strcmp(item.name, "weight") == 0) {
         range = getPropertyRange<OBFloatPropertyRange>(item, getConfigValue("weight"));
         break;
       }
@@ -945,16 +1078,14 @@ public:
    *
    * @param value weight value.
    */
-    void setWeight(float value) {
+  void setWeight(float value) { setConfigValue("weight", static_cast<double>(value)); }
-        setConfigValue("weight", static_cast<double>(value));
-    }
 };
 
 /**
  * @brief Depth to disparity or disparity to depth
  */
 class DisparityTransform : public Filter {
-public:
+ public:
   DisparityTransform(const std::string &activationKey = "") {
     ob_error *error = nullptr;
     auto impl = ob_create_private_filter("DisparityTransform", activationKey.c_str(), &error);
@@ -966,10 +1097,10 @@ public:
 };
 
 class OBFilterList {
-private:
+ private:
   ob_filter_list_t *impl_;
 
-public:
+ public:
   explicit OBFilterList(ob_filter_list_t *impl) : impl_(impl) {}
 
   ~OBFilterList() noexcept {
@@ -993,7 +1124,8 @@ public:
   /**
    * @brief Get the Filter object at the specified index
    *
-     * @param index The filter index. The range is [0, count-1]. If the index exceeds the range, an exception will be thrown.
+   * @param index The filter index. The range is [0, count-1]. If the index exceeds the range, an
+   * exception will be thrown.
    * @return std::shared_ptr<Filter> The filter object.
    */
   std::shared_ptr<Filter> getFilter(uint32_t index) {
@@ -1003,32 +1135,38 @@ public:
     return std::make_shared<Filter>(filter);
   }
 
-public:
+ public:
   // The following interfaces are deprecated and are retained here for compatibility purposes.
-    uint32_t count() const {
+  uint32_t count() const { return getCount(); }
-        return getCount();
-    }
 };
 
 /**
  * @brief Define the Filter type map
  */
 static const std::unordered_map<std::string, std::type_index> obFilterTypeMap = {
-    { "PointCloudFilter", typeid(PointCloudFilter) },   { "Align", typeid(Align) },
+    {"PointCloudFilter", typeid(PointCloudFilter)},
-    { "FormatConverter", typeid(FormatConvertFilter) }, { "HDRMerge", typeid(HdrMerge) },
+    {"Align", typeid(Align)},
-    { "SequenceIdFilter", typeid(SequenceIdFilter) },   { "DecimationFilter", typeid(DecimationFilter) },
+    {"FormatConverter", typeid(FormatConvertFilter)},
-    { "ThresholdFilter", typeid(ThresholdFilter) },     { "SpatialAdvancedFilter", typeid(SpatialAdvancedFilter) },
+    {"HDRMerge", typeid(HdrMerge)},
-    { "HoleFillingFilter", typeid(HoleFillingFilter) }, { "NoiseRemovalFilter", typeid(NoiseRemovalFilter) },
+    {"SequenceIdFilter", typeid(SequenceIdFilter)},
-    { "TemporalFilter", typeid(TemporalFilter) },       { "DisparityTransform", typeid(DisparityTransform) }
+    {"DecimationFilter", typeid(DecimationFilter)},
-};
+    {"ThresholdFilter", typeid(ThresholdFilter)},
+    {"SpatialAdvancedFilter", typeid(SpatialAdvancedFilter)},
+    {"HoleFillingFilter", typeid(HoleFillingFilter)},
+    {"NoiseRemovalFilter", typeid(NoiseRemovalFilter)},
+    {"TemporalFilter", typeid(TemporalFilter)},
+    {"DisparityTransform", typeid(DisparityTransform)},
+    {"SpatialFastFilter", typeid(SpatialFastFilter)},
+    {"SpatialModerateFilter", typeid(SpatialModerateFilter)}};
 
 /**
  * @brief Define the is() template function for the Filter class
  */
-template <typename T> bool Filter::is() {
+template <typename T>
+bool Filter::is() {
   std::string name = type();
   auto it = obFilterTypeMap.find(name);
-    if(it != obFilterTypeMap.end()) {
+  if (it != obFilterTypeMap.end()) {
     return std::type_index(typeid(T)) == it->second;
   }
   return false;

orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.8"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.10"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.8" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.10" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.4.8
+libOrbbecSDK.so.2.4.10

orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.8"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.10"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.8" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.4.10" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.4.8
+libOrbbecSDK.so.2.4.10

orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py

@@ -115,7 +115,7 @@ 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/examples/gmsl_camera/gemini_330_gmsl.launch.py

@@ -115,7 +115,7 @@ 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/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py

@@ -115,7 +115,7 @@ 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/include/orbbec_camera/ob_camera_node.h

@@ -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";

orbbec_camera/launch/dabai_a.launch.py

@@ -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

@@ -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

@@ -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

@@ -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='false'),
-        DeclareLaunchArgument('show_fps_enable', default_value='true'),
     ]
 
     def get_params(context, args):

orbbec_camera/src/ob_camera_node.cpp

@@ -573,15 +573,15 @@ void OBCameraNode::setupDevices() {
     TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT,
                         set_enable_depth_auto_exposure_priority);
   }
-  if (depth_brightness_ != -1 &&
+  if (mean_intensity_set_point_ != -1 &&
       device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
     auto range = device_->getIntPropertyRange(OB_PROP_IR_BRIGHTNESS_INT);
-    if (depth_brightness_ < range.min || depth_brightness_ > range.max) {
+    if (mean_intensity_set_point_ < range.min || mean_intensity_set_point_ > range.max) {
       RCLCPP_ERROR(logger_, "depth brightness value is out of range[%d,%d], please check the value",
                    range.min, range.max);
     } else {
-      RCLCPP_INFO_STREAM(logger_, "Setting depth brightness to " << depth_brightness_);
+      RCLCPP_INFO_STREAM(logger_, "Setting depth brightness to " << mean_intensity_set_point_);
-      TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, depth_brightness_);
+      TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, mean_intensity_set_point_);
     }
   }
   // ir ae max
@@ -898,6 +898,8 @@ void OBCameraNode::setupDepthPostProcessFilter() {
         {"HoleFillingFilter", enable_hole_filling_filter_},
         {"DisparityTransform", enable_disaparity_to_depth_},
         {"ThresholdFilter", enable_threshold_filter_},
+        {"SpatialFastFilter", enable_spatial_fast_filter_},
+        {"SpatialModerateFilter", enable_spatial_moderate_filter_},
     };
     std::string filter_name = filter->type();
     RCLCPP_INFO_STREAM(logger_, "Setting " << filter_name << "......");
@@ -979,6 +981,29 @@ void OBCameraNode::setupDepthPostProcessFilter() {
         device_->setStructuredData(OB_STRUCT_DEPTH_HDR_CONFIG,
                                    reinterpret_cast<const uint8_t *>(&config), sizeof(config));
       }
+    } else if (filter_name == "SpatialFastFilter" && enable_spatial_fast_filter_) {
+      auto spatial_fast_filter = filter->as<ob::SpatialFastFilter>();
+      OBSpatialFastFilterParams params{};
+      if (spatial_fast_filter_radius_ != -1) {
+        params.radius = spatial_fast_filter_radius_;
+        RCLCPP_INFO_STREAM(logger_,
+                           "Set SpatialFastFilter radius to " << spatial_fast_filter_radius_);
+        spatial_fast_filter->setFilterParams(params);
+      }
+    } else if (filter_name == "SpatialModerateFilter" && enable_spatial_moderate_filter_) {
+      auto spatial_moderate_filter = filter->as<ob::SpatialModerateFilter>();
+      OBSpatialModerateFilterParams params{};
+      if (spatial_moderate_filter_diff_threshold_ != -1 &&
+          spatial_moderate_filter_magnitude_ != -1 && spatial_moderate_filter_radius_ != -1) {
+        params.magnitude = spatial_moderate_filter_magnitude_;
+        params.radius = spatial_moderate_filter_radius_;
+        params.disp_diff = spatial_moderate_filter_diff_threshold_;
+        RCLCPP_INFO_STREAM(logger_, "Set SpatialModerateFilter params: "
+                                        << "magnitude=" << params.magnitude << ", radius="
+                                        << params.radius << ", disp_diff=" << params.disp_diff);
+        spatial_moderate_filter->setFilterParams(params);
+      }
+
     } else {
       RCLCPP_INFO_STREAM(logger_, "Skip setting filter: " << filter_name);
     }
@@ -1648,7 +1673,7 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(depth_ae_roi_top_, "depth_ae_roi_top", -1);
   setAndGetNodeParameter<int>(depth_ae_roi_right_, "depth_ae_roi_right", -1);
   setAndGetNodeParameter<int>(depth_ae_roi_bottom_, "depth_ae_roi_bottom", -1);
-  setAndGetNodeParameter<int>(depth_brightness_, "depth_brightness", -1);
+  setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point", -1);
   setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
   setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
   setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
@@ -1699,6 +1724,9 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<bool>(enable_spatial_filter_, "enable_spatial_filter", false);
   setAndGetNodeParameter<bool>(enable_temporal_filter_, "enable_temporal_filter", false);
   setAndGetNodeParameter<bool>(enable_hole_filling_filter_, "enable_hole_filling_filter", false);
+  setAndGetNodeParameter<bool>(enable_spatial_fast_filter_, "enable_spatial_fast_filter", false);
+  setAndGetNodeParameter<bool>(enable_spatial_moderate_filter_, "enable_spatial_moderate_filter",
+                               false);
   setAndGetNodeParameter<int>(decimation_filter_scale_, "decimation_filter_scale", -1);
   setAndGetNodeParameter<int>(sequence_id_filter_id_, "sequence_id_filter_id", -1);
   setAndGetNodeParameter<int>(threshold_filter_max_, "threshold_filter_max", -1);
@@ -3688,13 +3716,42 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
             "The filter switch setting is successful, but the filter parameter setting fails";
         return;
       }
+    } else if (request->filter_name == "SpatialFastFilter") {
+      auto spatial_fast_filter = std::make_shared<ob::SpatialFastFilter>();
+      spatial_fast_filter->enable(request->filter_enable);
+      depth_filter_list_.push_back(spatial_fast_filter);
+      if (request->filter_param.size() > 0) {
+        OBSpatialFastFilterParams params{};
+        params.radius = request->filter_param[0];
+        spatial_fast_filter->setFilterParams(params);
+        RCLCPP_INFO_STREAM(logger_, "Set SpatialFastFilter radius to " << params.radius);
+      } else {
+        response->message =
+            "The filter switch setting is successful, but the filter parameter setting fails";
+        return;
+      }
+
+    } else if (request->filter_name == "SpatialModerateFilter") {
+      auto spatial_moderate_filter = std::make_shared<ob::SpatialModerateFilter>();
+      spatial_moderate_filter->enable(request->filter_enable);
+      depth_filter_list_.push_back(spatial_moderate_filter);
+      if (request->filter_param.size() > 2) {
+        OBSpatialModerateFilterParams params{};
+        params.disp_diff = request->filter_param[0];
+        params.magnitude = request->filter_param[1];
+        params.radius = request->filter_param[2];
+        spatial_moderate_filter->setFilterParams(params);
+        RCLCPP_INFO_STREAM(logger_, "Set SpatialModerateFilter params: "
+                                        << "\ndisp_diff:" << params.disp_diff << "\nmagnitude:"
+                                        << params.magnitude << "\nradius:" << params.radius);
       } else {
         RCLCPP_INFO_STREAM(
             logger_, request->filter_name
                          << "Cannot be set\n"
                          << "The filter_name value that can be set is "
-                          "DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, Nois"
+                            "DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, "
-                          "eRemovalFilter, SpatialAdvancedFilter and TemporalFilter");
+                            "NoiseRemovalFilter, HardwareNoiseRemoval, SpatialAdvancedFilter, "
+                            "SpatialFastFilter, SpatialModerateFilter and TemporalFilter");
         return;
       }
       for (auto &filter : depth_filter_list_) {
@@ -3708,6 +3765,7 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
         }
       }
       response->success = true;
+    }
   } catch (const ob::Error &e) {
     response->message = e.getMessage();
     response->success = false;