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/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);
@@ -3688,26 +3716,56 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
             "The filter switch setting is successful, but the filter parameter setting fails";
         return;
       }
-    } else {
+    } else if (request->filter_name == "SpatialFastFilter") {
-      RCLCPP_INFO_STREAM(
+      auto spatial_fast_filter = std::make_shared<ob::SpatialFastFilter>();
-          logger_, request->filter_name
+      spatial_fast_filter->enable(request->filter_enable);
-                       << "Cannot be set\n"
+      depth_filter_list_.push_back(spatial_fast_filter);
-                       << "The filter_name value that can be set is "
+      if (request->filter_param.size() > 0) {
-                          "DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, Nois"
+        OBSpatialFastFilterParams params{};
-                          "eRemovalFilter, SpatialAdvancedFilter and TemporalFilter");
+        params.radius = request->filter_param[0];
-      return;
+        spatial_fast_filter->setFilterParams(params);
-    }
+        RCLCPP_INFO_STREAM(logger_, "Set SpatialFastFilter radius to " << params.radius);
-    for (auto &filter : depth_filter_list_) {
+      } else {
-      std::cout << " - " << filter->getName() << ": "
+        response->message =
-                << (filter->isEnabled() ? "enabled" : "disabled") << std::endl;
+            "The filter switch setting is successful, but the filter parameter setting fails";
-      auto configSchemaVec = filter->getConfigSchemaVec();
+        return;
-      for (auto &configSchema : configSchemaVec) {
-        std::cout << "    - {" << configSchema.name << ", " << configSchema.type << ", "
-                  << configSchema.min << ", " << configSchema.max << ", " << configSchema.step
-                  << ", " << configSchema.def << ", " << configSchema.desc << "}" << std::endl;
       }
+
+    } 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, "
+                            "NoiseRemovalFilter, HardwareNoiseRemoval, SpatialAdvancedFilter, "
+                            "SpatialFastFilter, SpatialModerateFilter and TemporalFilter");
+        return;
+      }
+      for (auto &filter : depth_filter_list_) {
+        std::cout << " - " << filter->getName() << ": "
+                  << (filter->isEnabled() ? "enabled" : "disabled") << std::endl;
+        auto configSchemaVec = filter->getConfigSchemaVec();
+        for (auto &configSchema : configSchemaVec) {
+          std::cout << "    - {" << configSchema.name << ", " << configSchema.type << ", "
+                    << configSchema.min << ", " << configSchema.max << ", " << configSchema.step
+                    << ", " << configSchema.def << ", " << configSchema.desc << "}" << std::endl;
+        }
+      }
+      response->success = true;
     }
-    response->success = true;
   } catch (const ob::Error &e) {
     response->message = e.getMessage();
     response->success = false;