add multi camera depth

2026-07-14 09:42:35 +07:00
parent a2a021c114
commit 6a9834d3a8
9 changed files with 711 additions and 1374 deletions
--- a/config/voxel_layer_params.yaml
+++ b/config/voxel_layer_params.yaml
@@ -10,3 +10,6 @@ voxel_layer:
  combination_method: 1
  frustum_clearing_enabled: true
  frustum_clearing_pixel_step: 8
+  frustum_min_range: 0.20
+  frustum_max_range: 3.0
+  frustum_depth_camera_topic: /camera/depth/data