DuongTD/depth_image_proc
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duongtd
2026-07-24 10:28:20 +07:00
parent a341cd215b
commit cfea88a834
4 changed files with 230 additions and 9 deletions
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11
launch/depth_image_proc_gazebo.launch
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@@ -1,11 +1,15 @@
<?xml version="1.0"?>
<launch>
<!-- Use with Gazebo T800: depth topics come from URDF depth camera plugin -->
<arg name="multi_cam" default="true"/>
<arg name="multi_cam" default="false"/>
<arg name="depth_topic" default="/camera/depth/image_raw"/>
<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"/>
<!-- Limit CPU-heavy filter/projection work while preserving 30 Hz camera input. -->
<arg name="processing_rate" default="15.0"/>
<arg name="performance_metrics_enabled" default="true"/>
<arg name="performance_metrics_period" default="5.0"/>
<!-- Noise filter + downsampling (applied before publishing the cloud) -->
<arg name="filter_decimation" default="4"/> <!-- keep 1 of NxN pixels -->
@@ -19,7 +23,7 @@
<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"/>
<arg name="rviz" default="false"/>
<node pkg="robot_depth_image_proc"
type="depth_image_proc_node"
@@ -31,6 +35,9 @@
<param name="cloud_topic" value="$(arg cloud_topic)"/>
<param name="fixed_frame" value="$(arg fixed_frame)"/>
<param name="publish_tf" value="false"/>
<param name="processing_rate" value="$(arg processing_rate)"/>
<param name="performance_metrics_enabled" value="$(arg performance_metrics_enabled)"/>
<param name="performance_metrics_period" value="$(arg performance_metrics_period)"/>
<param name="filter/decimation" value="$(arg filter_decimation)"/>
<param name="filter/range_min" value="$(arg filter_range_min)"/>
<param name="filter/range_max" value="$(arg filter_range_max)"/>