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docs: expand EnhancedDepthFilter device support
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ob-yalian
@@ -393,7 +393,7 @@ The following are the launch parameters available:
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* **`enable_lut_noise_removal_filter`**
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* Enable the LUT noise removal filter. This parameter is available for Astra Mini (S) Pro, DaBai Pro Max, and DaBai DCW2.
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* **`enable_enhanced_depth`**
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* Enable LingBot enhanced depth filtering. The default is `false`. Both Color and Depth must be enabled, and D2C/C2D alignment must be configured. For complete environment, startup, and image requirements, see the [Gemini 330 Series EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
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* Enable LingBot enhanced depth filtering. The default is `false`. Both Color and Depth must be enabled, and D2C/C2D alignment must be configured. For complete environment, startup, and image requirements, see the [EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
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* **`enhanced_depth_model_path`**
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* Path to the LingBot `model.sm4` file. The default is empty. This parameter is required when enhanced depth filtering is enabled; an absolute path is recommended. The model file cannot be changed at runtime.
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* **`enhanced_depth_confidence_threshold`**
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@@ -276,7 +276,7 @@ On Gemini 330 series devices with firmware `1.8.21` or later, the following serv
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### Depth Filter Configuration
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* `/camera/set_filter`
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For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [Gemini 330 Series FalsePositiveFilter Usage Guide](../5_advanced_guide/configuration/false_positive_filter.md). For `EnhancedDepthFilter` environment requirements, startup parameters, and status checks, see the [Gemini 330 Series EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
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For `FalsePositiveFilter` startup parameters, status checks, and named-parameter tuning examples, see [Gemini 330 Series FalsePositiveFilter Usage Guide](../5_advanced_guide/configuration/false_positive_filter.md). For `EnhancedDepthFilter` environment requirements, startup parameters, and status checks, see the [EnhancedDepthFilter Usage Guide](../5_advanced_guide/configuration/enhanced_depth_filter.md).
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```bash
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# filter_name is the filter name, and filter_enable indicates whether the filter is enabled.
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# filter_param is the legacy positional parameter form; filter_config is the new named parameter form.
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@@ -1,4 +1,4 @@
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# Gemini 330 Series EnhancedDepthFilter Usage Guide
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# EnhancedDepthFilter Usage Guide
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The LingBot Enhanced Depth Filter (`EnhancedDepthFilter`) uses both color and depth information to improve depth image quality by reducing noise, filling depth holes, and refining object edges.
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@@ -7,7 +7,7 @@ The LingBot Enhanced Depth Filter (`EnhancedDepthFilter`) uses both color and de
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EnhancedDepthFilter requires:
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* an NVIDIA Jetson running Linux ARM64;
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* a supported Gemini 330 series camera;
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* a supported Gemini 330 or Gemini 340 series camera;
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* CUDA Runtime 12;
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* TensorRT 10 Runtime;
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* a valid LingBot-Depth License;
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@@ -393,7 +393,7 @@
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* **`enable_lut_noise_removal_filter`**
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* 启用 LUT 降噪滤波器。适配机型包括 Astra Mini (S) Pro、DaBai Pro Max、DaBai DCW2。
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* **`enable_enhanced_depth`**
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* 启用 LingBot 增强深度滤波，默认值为 `false`。该功能需要同时启用 Color 和 Depth，并配置 D2C/C2D 对齐。完整环境、启动和图像要求请参考 [Gemini 330 系列 EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
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* 启用 LingBot 增强深度滤波，默认值为 `false`。该功能需要同时启用 Color 和 Depth，并配置 D2C/C2D 对齐。完整环境、启动和图像要求请参考 [EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
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* **`enhanced_depth_model_path`**
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* LingBot `model.sm4` 文件路径，默认值为空。启用增强深度滤波时必须设置，建议使用绝对路径；运行时不能更换模型文件。
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* **`enhanced_depth_confidence_threshold`**
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@@ -276,7 +276,7 @@ Gemini 330 系列设备使用固件 `1.8.21` 及以上版本时，如果设备
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### 深度滤波器配置
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* `/camera/set_filter`
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`FalsePositiveFilter` 的启动参数、状态确认和命名参数调参示例可参考 [Gemini 330 系列 FalsePositiveFilter 使用说明](../5_advanced_guide/configuration/false_positive_filter.md)。`EnhancedDepthFilter` 的环境要求、启动参数和状态确认方法可参考 [Gemini 330 系列 EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
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`FalsePositiveFilter` 的启动参数、状态确认和命名参数调参示例可参考 [Gemini 330 系列 FalsePositiveFilter 使用说明](../5_advanced_guide/configuration/false_positive_filter.md)。`EnhancedDepthFilter` 的环境要求、启动参数和状态确认方法可参考 [EnhancedDepthFilter 使用说明](../5_advanced_guide/configuration/enhanced_depth_filter.md)。
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```bash
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# filter_name 为滤波器名称，filter_enable 表示是否开启滤波器开关。
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# filter_param 为旧的按位置传参方式；filter_config 为新的命名参数方式。
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+2
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@@ -1,4 +1,4 @@
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# Gemini 330 系列 EnhancedDepthFilter 使用说明
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# EnhancedDepthFilter 使用说明
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LingBot 增强深度滤波器（`EnhancedDepthFilter`）同时使用彩色和深度信息，通过降低噪声、填补深度空洞和优化物体边缘来改善深度图像质量。
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@@ -7,7 +7,7 @@ LingBot 增强深度滤波器（`EnhancedDepthFilter`）同时使用彩色和深
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使用 EnhancedDepthFilter 需要满足以下条件：
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* NVIDIA Jetson，操作系统为 Linux ARM64；
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* 支持该功能的 Gemini 330 系列相机；
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* 支持该功能的 Gemini 330 或 Gemini 340 系列相机；
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* CUDA Runtime 12；
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* TensorRT 10 Runtime；
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* 有效的 LingBot-Depth License；
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