feat(gemini2): add OrbbecSDK_ROS2/
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X-lanni
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# common params
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depth_registration: false
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enable_point_cloud: false
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enable_colored_point_cloud: false
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device_preset: "High Accuracy"
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laser_on_off_mode: 1 # 0: off, 1: on-off, 1: off-on
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time_domain: "global" # global, device, system
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enable_sync_host_time: false
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frames_per_trigger: 2
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# When 3D reconstruction mode is enabled:
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# - The laser will switch to on-off mode
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# - IR images without the laser will be used for SLAM localization
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# - Depth images with the laser will be used because they provide better depth quality
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enable_3d_reconstruction_mode: true
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# color params
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enable_color: true
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color_width: 640
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color_height: 480
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color_fps: 90
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color_format: "YUYV"
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enable_color_auto_exposure: false
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color_exposure: 50 # 5ms
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color_gain: -1 # -1 default
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# depth params
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depth_width: 640
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depth_height: 480
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depth_fps: 90
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depth_format: "Y16"
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# ir exposure
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enable_ir_auto_exposure: false
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ir_exposure: 5000 # 5ms
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ir_gain: 40
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#left ir params
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enable_left_ir: true
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left_ir_width: 640
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left_ir_height: 480
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left_ir_fps: 90
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left_ir_format: "Y8"
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#right ir params
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enable_right_ir: true
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right_ir_width: 640
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right_ir_height: 480
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right_ir_fps: 90
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right_ir_format: "Y8"
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@@ -0,0 +1,251 @@
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{
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"device": "Orbbec Gemini 2",
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"structVersion": "0.0.c",
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"dataVersion": "1.8.0",
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"description": "Gemini2 depth filter params",
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"configDate": "20240305",
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"vid": "0x2bc5",
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"pid": "0x0670",
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"depthFilters": [
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{
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"depthWorkMode": "Unbinned Dense Default",
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"width": 1280,
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"height":800,
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"bxf": 30500,
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"invalid_value":0,
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"NoiseRemovalFilter": {
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"enable": true,
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"size": 200,
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"disp_diff": 100,
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"type": "NR_OVERALL",
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"lut": [
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200, 100, 100, 200,
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200, 100, 100, 200,
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200, 100, 100, 200,
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200, 100, 100, 200
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]
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},
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"EdgeNoiseRemovalFilter": {
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"enable": true,
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"type": "MG_FILTER",
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"x1_th": 6,
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"x2_th": 6,
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"y1_th": 6,
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"y2_th": 6,
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"limit_x": 70,
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"limit_y": 70,
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"R": 750,
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"width1": 40,
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"width2": 40
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},
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"SpatialFastFilter": {
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"enable": false,
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"size": 3
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},
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"SpatialModerateFilter": {
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"enable": false,
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"size": 3,
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"iters": 1,
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"disp_diff": 100
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},
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"SpatialAdvancedFilter": {
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"enable": false,
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"type": "SFA_ALL",
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"iters": 1,
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"alpha": 0.4,
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"disp_diff": 100,
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"radius": 5
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},
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"HoleFillingFilter": {
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"enable": false,
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"type": "FILL_TOP"
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},
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"TemporalFilter": {
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"enable": false,
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"type": "TF_FILL_DISABLED",
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"scale": 0.05,
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"weight": 0.4
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}
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},
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{
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"depthWorkMode": "Binned Sparse Default",
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"width": 640,
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"height":400,
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"bxf": 15250,
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"invalid_value":0,
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"NoiseRemovalFilter": {
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"enable": true,
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"size": 50,
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"disp_diff": 120,
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"type": "NR_OVERALL",
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"lut": [
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50, 25, 25, 50,
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50, 25, 25, 50,
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50, 25, 25, 50,
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50, 25, 25, 50
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]
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},
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"EdgeNoiseRemovalFilter": {
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"enable": true,
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"type": "MG_FILTER",
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"x1_th": 3,
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"x2_th": 3,
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"y1_th": 3,
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"y2_th": 3,
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"limit_x": 35,
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"limit_y": 35,
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"R": 375,
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"width1": 20,
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"width2": 20
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},
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"SpatialFastFilter": {
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"enable": false,
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"size": 3
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},
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"SpatialModerateFilter": {
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"enable": false,
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"size": 3,
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"iters": 1,
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"disp_diff": 120
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},
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"SpatialAdvancedFilter": {
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"enable": false,
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"type": "SFA_ALL",
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"iters": 1,
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"alpha": 0.4,
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"disp_diff": 120,
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"radius": 5
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},
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"HoleFillingFilter": {
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"enable": false,
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"type": "FILL_TOP"
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},
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"TemporalFilter": {
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"enable": false,
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"type": false,
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"scale": 0.05,
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"weight": 0.4
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}
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},
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{
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"depthWorkMode": "Unbinned Sparse Default",
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"width": 1280,
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"height": 800,
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"bxf": 30500,
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"invalid_value":0,
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"NoiseRemovalFilter": {
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"enable": true,
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"size": 200,
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"disp_diff": 100,
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"type": "NR_OVERALL",
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"lut": [
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200, 100, 100, 200,
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200, 100, 100, 200,
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200, 100, 100, 200,
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200, 100, 100, 200
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]
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},
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"EdgeNoiseRemovalFilter": {
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"enable": true,
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"type": "MG_FILTER",
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"x1_th": 6,
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"x2_th": 6,
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"y1_th": 6,
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"y2_th": 6,
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"limit_x": 70,
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"limit_y": 70,
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"R": 750,
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"width1": 40,
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"width2": 40
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},
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"SpatialFastFilter": {
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"enable": false,
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"size": 3
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},
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"SpatialModerateFilter": {
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"enable": false,
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"size": 3,
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"iters": 1,
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"disp_diff": 100
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},
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"SpatialAdvancedFilter": {
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"enable": false,
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"type": "SFA_ALL",
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"iters": 1,
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"alpha": 0.4,
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"disp_diff": 100,
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"radius": 5
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},
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"HoleFillingFilter": {
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"enable": false,
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"type": "FILL_TOP"
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},
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"TemporalFilter": {
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"enable": false,
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"fill": false,
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"scale": 0.05,
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"weight": 0.4
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}
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},
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{
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"depthWorkMode": "Obstacle Avoidance",
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"width": 640,
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"height":400,
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"bxf": 30500,
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"invalid_value":0,
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"NoiseRemovalFilter": {
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"enable": true,
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"size": 50,
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"disp_diff": 100,
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"type": "NR_OVERALL",
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"lut": [
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50, 25, 25, 50,
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50, 25, 25, 50,
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50, 25, 25, 50,
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50, 25, 25, 50
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]
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},
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"EdgeNoiseRemovalFilter": {
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"enable": true,
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"type": "MG_FILTER",
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"x1_th": 3,
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"x2_th": 3,
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"y1_th": 3,
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"y2_th": 3,
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"limit_x": 20,
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"limit_y": 20,
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"R": 375,
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"width1": 20,
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"width2": 20
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},
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"SpatialFastFilter": {
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"enable": false,
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"size": 5
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},
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"SpatialModerateFilter": {
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"enable": false,
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"size": 5,
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"iters": 1,
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"disp_diff": 100
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},
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"SpatialAdvancedFilter": {
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"enable": true,
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"type": "SFA_ALL",
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"iters": 1,
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"alpha": 0.6,
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"disp_diff": 100,
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"radius": 5
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},
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"HoleFillingFilter": {
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"enable": false,
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"type": "FILL_TOP"
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},
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"TemporalFilter": {
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"enable": false,
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"type": false,
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"scale": 0.05,
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"weight": 0.4
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}
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}
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]
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}
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@@ -0,0 +1,66 @@
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{
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"device": "Orbbec Openni deivce",
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"structVersion": "0x0000000a",
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"dataVersion": "1.5.0",
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"description": "Orbbec openni depth filter params",
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"configDate": "20231204",
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"vid": "0x2bc5",
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"pid": "0x0670",
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"depthFilters": [
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{
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"depthWorkMode": "",
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"width": 640,
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"height":400,
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"bxf": 30500,
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"invalid_value":0,
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"NoiseRemovalFilter": {
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"enable": true,
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"size": 50,
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"disp_diff": 6,
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"type": "NR_LUT",
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"lut": [
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100, 25, 25, 100,
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100, 25, 25, 100,
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100, 25, 25, 100,
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100, 25, 25, 100
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]
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},
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"EdgeNoiseRemovalFilter": {
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"enable": false,
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"type": "MGC_FILTER",
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"margin_left_th": 3,
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"margin_right_th": 3,
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"margin_top_th": 0,
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"margin_bottom_th": 0
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},
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"SpatialFastFilter": {
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"enable": false,
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"size": 3
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},
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"SpatialModerateFilter": {
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"enable": false,
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"size": 3,
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"iters": 1,
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"disp_diff": 100
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},
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"SpatialAdvancedFilter": {
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"enable": false,
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"type": "SFA_ALL",
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"iters": 1,
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"alpha": 0.4,
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"disp_diff": 100,
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"radius": 5
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},
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"HoleFillingFilter": {
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"enable": false,
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"type": "FILL_TOP"
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},
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"TemporalFilter": {
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"enable": false,
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"type": "TF_FILL_DISABLED",
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"scale": 0.1,
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"weight": 0.4
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}
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}
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]
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}
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