52 lines
3.0 KiB
XML
52 lines
3.0 KiB
XML
<?xml version="1.0"?>
|
|
<launch>
|
|
<!-- Topics from RealSense depth_publisher.py -->
|
|
<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"/>
|
|
<arg name="fixed_frame" default="map"/>
|
|
<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="3.0"/> <!-- [m] -->
|
|
<arg name="filter_speckle_max_delta" default="0.08"/> <!-- [m] neighbor depth tolerance -->
|
|
<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"
|
|
name="depth_image_proc"
|
|
output="screen">
|
|
<param name="depth_topic" value="$(arg depth_topic)"/>
|
|
<param name="camera_info_topic" value="$(arg camera_info_topic)"/>
|
|
<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)"/>
|
|
<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)"
|
|
pkg="rviz"
|
|
type="rviz"
|
|
name="rviz"
|
|
args="-d $(find robot_depth_image_proc)/rviz/depth_image_proc_realsense.rviz"/>
|
|
</launch>
|