FEMTO Mega pointcloud data preprocessing

[KingDo-c]

I'm using a femto Mega model, and I'm looking for a way to remove smoothing (curved) from the point cloud data I got. I didn't apply any filters with the launch option, but I couldn't solve it. Can you help? The data cannot be distinguished because there is an interpolation between the object and the object.

[jjiszjj]

@KingDo-c Hi,The Femto Mega is able to use the noise_removal_filter, you can add these three lines to femto_mega.launch.py.And set enable_noise_removal_filter to true

https://github.com/orbbec/OrbbecSDK_ROS2/blob/40cf9531e794ebbe89dc8709b02426c41f322584/orbbec_camera/launch/gemini_330_series.launch.py#L163

https://github.com/orbbec/OrbbecSDK_ROS2/blob/40cf9531e794ebbe89dc8709b02426c41f322584/orbbec_camera/launch/gemini_330_series.launch.py#L171

https://github.com/orbbec/OrbbecSDK_ROS2/blob/40cf9531e794ebbe89dc8709b02426c41f322584/orbbec_camera/launch/gemini_330_series.launch.py#L172

[jjiszjj]

@KingDo-c We will add enable_noise_removal_filter, noise_removal_filter_min_diff and noise_removal_filter_max_size to femto_mega.launch.py ​​in the next version.

[Danilrivero]

Hi,

We noticed that the parameters in femto_bolt.launch.py are not yet available, similar to the situation with the Femto Mega.

@jjiszjj, are there any plans to implement features like those available for the Gemini 330 in an upcoming release?

It would be great to have these supported—thanks!