- Replace separate accel/gyro parameters with unified IMU parameters
- Consolidate topics from separate streams to single /lidar/imu/sample
- Simplify launch file configuration with single enable_imu flag
- Update documentation and extrinsics to reflect unified structure
- Update LiDAR point structure definitions in ObTypes.h
- Rename reflectivity field to intensity in OBLiDARPoint and OBLiDARSpherePoint structures
- Update point cloud field names and iterators in ob_lidar_node.cpp
- Modify Chinese documentation to reflect the terminology change
- Ensure consistency across all LiDAR data publishing methods
This change aligns the codebase with standard LiDAR terminology where
'intensity' is the commonly used term for describing the strength of
the laser return signal.
- 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.
xiexun