DuongTD/depth_image_proc
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add fillter test cam intel

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duongtd
2026-07-22 10:36:52 +07:00
parent 4bf19c6a7b
commit 75c97050f1
8 changed files with 377 additions and 6 deletions
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16
launch/depth_image_proc_gazebo.launch
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@@ -6,6 +6,13 @@
<arg name="camera_info_topic" default="/camera/depth/camera_info"/>
<arg name="cloud_topic" default="/camera/depth/points_proc"/>
<arg name="fixed_frame" default="odom"/>
<!-- Noise filter + downsampling (applied before publishing the cloud) -->
<arg name="filter_decimation" default="4"/> <!-- keep 1 of NxN pixels -->
<arg name="filter_range_min" default="0.3"/> <!-- [m] -->
<arg name="filter_range_max" default="4.0"/> <!-- [m] -->
<arg name="filter_speckle_max_delta" default="0.08"/> <!-- [m] neighbor depth tolerance -->
<arg name="filter_speckle_min_neighbors" default="3"/> <!-- 0 disables speckle filter -->
<!-- <arg name="rviz" default="true"/> -->
<node pkg="robot_depth_image_proc"
@@ -18,11 +25,16 @@
<param name="cloud_topic" value="$(arg cloud_topic)"/>
<param name="fixed_frame" value="$(arg fixed_frame)"/>
<param name="publish_tf" value="false"/>
<param name="filter/decimation" value="$(arg filter_decimation)"/>
<param name="filter/range_min" value="$(arg filter_range_min)"/>
<param name="filter/range_max" value="$(arg filter_range_max)"/>
<param name="filter/speckle_max_delta" value="$(arg filter_speckle_max_delta)"/>
<param name="filter/speckle_min_neighbors" value="$(arg filter_speckle_min_neighbors)"/>
</node>
<!-- <node if="$(arg rviz)"
<node if="$(arg rviz)"
pkg="rviz"
type="rviz"
name="rviz"
args="-d $(find robot_depth_image_proc)/rviz/depth_image_proc_gazebo.rviz"/> -->
args="-d $(find robot_depth_image_proc)/rviz/depth_image_proc_gazebo.rviz"/>
</launch>

12
launch/depth_image_proc_realsense.launch
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@@ -8,6 +8,13 @@
<arg name="publish_tf" default="true"/>
<arg name="rviz" default="true"/>
<!-- Noise filter + downsampling (applied before publishing the cloud) -->
<arg name="filter_decimation" default="4"/> <!-- keep 1 of NxN pixels -->
<arg name="filter_range_min" default="0.1"/> <!-- [m] -->
<arg name="filter_range_max" default="4.0"/> <!-- [m] -->
<arg name="filter_speckle_max_delta" default="0.08"/> <!-- [m] neighbor depth tolerance -->
<arg name="filter_speckle_min_neighbors" default="3"/> <!-- 0 disables speckle filter -->
<node pkg="robot_depth_image_proc"
type="depth_image_proc_node"
name="depth_image_proc"
@@ -17,6 +24,11 @@
<param name="cloud_topic" value="$(arg cloud_topic)"/>
<param name="fixed_frame" value="$(arg fixed_frame)"/>
<param name="publish_tf" value="$(arg publish_tf)"/>
<param name="filter/decimation" value="$(arg filter_decimation)"/>
<param name="filter/range_min" value="$(arg filter_range_min)"/>
<param name="filter/range_max" value="$(arg filter_range_max)"/>
<param name="filter/speckle_max_delta" value="$(arg filter_speckle_max_delta)"/>
<param name="filter/speckle_min_neighbors" value="$(arg filter_speckle_min_neighbors)"/>
</node>
<node if="$(arg rviz)"

8
launch/tf_cam.launch Normal file
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@@ -0,0 +1,8 @@
<launch>
<!-- Vị trí camera so với baselink -->
<node pkg="tf2_ros"
type="static_transform_publisher"
name="baselink_to_camera_depth_optical"
args="0.2575 0.0 0.23 -1.5708 0.0 -1.5708 base_link camera_depth_optical_frame"
output="screen"/>
</launch>