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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/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");