DuongTD/depth_image_proc
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add fillter test cam intel 14:33

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duongtd
2026-07-22 14:33:53 +07:00
parent 75c97050f1
commit c8b8d28723
10 changed files with 616 additions and 13 deletions
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14
launch/depth_image_proc_gazebo.launch
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@@ -13,7 +13,13 @@
<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"/> -->
<arg name="filter_edge_max_delta" default="0.1"/> <!-- [m] depth jump = object edge; 0 disables -->
<arg name="filter_edge_dilation" default="2"/> <!-- [px] halo removed around edges -->
<arg name="filter_edge_window" default="4"/> <!-- [px] wide baseline catching smooth flying-pixel ramps; 1 disables -->
<arg name="filter_edge_invalid_border" default="true"/> <!-- drop pixels hugging no-data holes at occlusion edges -->
<arg name="filter_temporal_max_delta" default="0.06"/> <!-- [m] per-frame stability tolerance -->
<arg name="filter_temporal_min_frames" default="2"/> <!-- stable frames required; 0/1 disables -->
<arg name="rviz" default="true"/>
<node pkg="robot_depth_image_proc"
type="depth_image_proc_node"
@@ -30,6 +36,12 @@
<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="$(arg filter_speckle_min_neighbors)"/>
<param name="filter/edge_max_delta" value="$(arg filter_edge_max_delta)"/>
<param name="filter/edge_dilation" value="$(arg filter_edge_dilation)"/>
<param name="filter/edge_window" value="$(arg filter_edge_window)"/>
<param name="filter/edge_invalid_border" value="$(arg filter_edge_invalid_border)"/>
<param name="filter/temporal_max_delta" value="$(arg filter_temporal_max_delta)"/>
<param name="filter/temporal_min_frames" value="$(arg filter_temporal_min_frames)"/>
</node>
<node if="$(arg rviz)"

16
launch/depth_image_proc_realsense.launch
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@@ -11,9 +11,15 @@
<!-- 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_range_max" default="3.0"/> <!-- [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="filter_speckle_min_neighbors" default="5"/> <!-- 0 disables speckle filter; 5 also kills 2x2 noise clusters -->
<arg name="filter_edge_max_delta" default="0.1"/> <!-- [m] depth jump = object edge; 0 disables -->
<arg name="filter_edge_dilation" default="2"/> <!-- [px] halo removed around edges -->
<arg name="filter_edge_window" default="4"/> <!-- [px] wide baseline catching smooth flying-pixel ramps; 1 disables -->
<arg name="filter_edge_invalid_border" default="true"/> <!-- drop pixels hugging no-data holes at occlusion edges -->
<arg name="filter_temporal_max_delta" default="0.06"/> <!-- [m] per-frame stability tolerance -->
<arg name="filter_temporal_min_frames" default="3"/> <!-- stable frames required (~100 ms latency at 30 fps); 0/1 disables -->
<node pkg="robot_depth_image_proc"
type="depth_image_proc_node"
@@ -29,6 +35,12 @@
<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="$(arg filter_speckle_min_neighbors)"/>
<param name="filter/edge_max_delta" value="$(arg filter_edge_max_delta)"/>
<param name="filter/edge_dilation" value="$(arg filter_edge_dilation)"/>
<param name="filter/edge_window" value="$(arg filter_edge_window)"/>
<param name="filter/edge_invalid_border" value="$(arg filter_edge_invalid_border)"/>
<param name="filter/temporal_max_delta" value="$(arg filter_temporal_max_delta)"/>
<param name="filter/temporal_min_frames" value="$(arg filter_temporal_min_frames)"/>
</node>
<node if="$(arg rviz)"