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feat: add point cloud decimation filter factor parameter

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ob-yalian
2025-11-20 10:13:09 +08:00
parent f48776648d
commit 0419c6234f
3 changed files with 5 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -587,6 +587,7 @@ class OBCameraNode {
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr depth_cloud_pub_;
bool enable_point_cloud_ = true;
bool enable_colored_point_cloud_ = false;
int point_cloud_decimation_filter_factor_ = 1;
std::recursive_mutex point_cloud_mutex_;
orbbec_camera_msgs::msg::DeviceInfo device_info_;
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -81,6 +81,7 @@ def generate_launch_description():
DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('point_cloud_decimation_filter_factor', default_value='1'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
orbbec_camera/src/ob_camera_node.cpp
+3
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@@ -1779,6 +1779,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(color_info_url_, "color_info_url", "");
setAndGetNodeParameter<bool>(enable_colored_point_cloud_, "enable_colored_point_cloud", false);
setAndGetNodeParameter<bool>(enable_point_cloud_, "enable_point_cloud", false);
setAndGetNodeParameter<int>(point_cloud_decimation_filter_factor_, "point_cloud_decimation_filter_factor", 1);
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter<bool>(enable_d2c_viewer_, "enable_d2c_viewer", false);
setAndGetNodeParameter<std::string>(disparity_to_depth_mode_, "disparity_to_depth_mode", "HW");
@@ -2404,6 +2405,7 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
float depth_scale = depth_frame->getValueScale();
depth_point_cloud_filter_.setPositionDataScaled(depth_scale);
depth_point_cloud_filter_.setCreatePointFormat(OB_FORMAT_POINT);
depth_point_cloud_filter_.setDecimationFactor(point_cloud_decimation_filter_factor_);
auto result_frame = depth_point_cloud_filter_.process(depth_frame);
if (!result_frame) {
RCLCPP_ERROR_STREAM(logger_, "Failed to process depth frame");
@@ -2515,6 +2517,7 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
auto depth_scale = depth_frame->getValueScale();
color_point_cloud_filter_.setPositionDataScaled(depth_scale);
color_point_cloud_filter_.setCreatePointFormat(OB_FORMAT_RGB_POINT);
color_point_cloud_filter_.setDecimationFactor(point_cloud_decimation_filter_factor_);
auto result_frame = color_point_cloud_filter_.process(frame_set);
if (!result_frame) {
RCLCPP_ERROR_STREAM(logger_, "Failed to process depth frame");