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feat: add support for additional depth filter parameters and expose filtering conditions

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ob-yalian
2026-04-15 13:39:08 +08:00
parent b7e948860e
commit 04ac89d7a4
1 changed files with 11 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+11 -1
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@@ -62,6 +62,9 @@ std::string getDepthFilterStatusParamName(const std::string &filter_name,
if (filter_name == "SpatialAdvancedFilter" && param_name == "disp_diff") { if (filter_name == "SpatialAdvancedFilter" && param_name == "disp_diff") {
return "diff_threshold"; return "diff_threshold";
} }
if (filter_name == "SpatialModerateFilter" && param_name == "disp_diff") {
return "diff_threshold";
}
if (filter_name == "TemporalFilter" && param_name == "diff_scale") { if (filter_name == "TemporalFilter" && param_name == "diff_scale") {
return "diff_threshold"; return "diff_threshold";
} }
@@ -71,6 +74,12 @@ std::string getDepthFilterStatusParamName(const std::string &filter_name,
return param_name; return param_name;
} }
bool shouldExposeDepthFilterParams(const std::string &filter_name) {
return filter_name != "MgcNoiseRemovalFilter" && filter_name != "LutNoiseRemovalFilter" &&
filter_name != "DisparityTransform" && filter_name != "FalsePositiveFilter" &&
filter_name != "EdgeNoiseRemovalFilter";
}
} // namespace } // namespace
void OBCameraNode::appendDepthFilterParam(DepthFilterState &filter_state, const std::string &name, void OBCameraNode::appendDepthFilterParam(DepthFilterState &filter_state, const std::string &name,
@@ -103,7 +112,8 @@ DepthFilterState OBCameraNode::buildDepthFilterState(
to_param_value(hardware_noise_removal_filter_threshold_)); to_param_value(hardware_noise_removal_filter_threshold_));
} }
if (filter_state.params.empty() && filter) { if (filter_state.params.empty() && filter &&
shouldExposeDepthFilterParams(normalized_filter_name)) {
auto format_filter_config_value = [](const OBFilterConfigSchemaItem &config_schema, auto format_filter_config_value = [](const OBFilterConfigSchemaItem &config_schema,
double value) { double value) {
switch (config_schema.type) { switch (config_schema.type) {