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apply setAlignToStreamProfile API

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datean
2024-12-23 13:59:09 +08:00
parent e66fee597a
commit 0cf08b0c76
1 changed files with 21 additions and 12 deletions
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orbbec_camera/src/ob_camera_node.cpp
+16 -7
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@@ -542,13 +542,13 @@ void OBCameraNode::setupDepthPostProcessFilter() {
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) { } else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>(); auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams(); OBNoiseRemovalFilterParams params = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(logger_, "Default noise removal filter params: "
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size); << ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_; params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_; params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_, "Set noise removal filter params: "
"Set noise removal filter params: " << "disp_diff: " << params.disp_diff << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size); << ", max_size: " << params.max_size);
if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) { if (noise_removal_filter_min_diff_ != -1 && noise_removal_filter_max_size_ != -1) {
noise_removal_filter->setFilterParams(params); noise_removal_filter->setFilterParams(params);
@@ -558,8 +558,8 @@ void OBCameraNode::setupDepthPostProcessFilter() {
hdr_merge_gain_2_ != -1) { hdr_merge_gain_2_ != -1) {
auto hdr_merge_filter = filter->as<ob::HdrMerge>(); auto hdr_merge_filter = filter->as<ob::HdrMerge>();
hdr_merge_filter->enable(true); hdr_merge_filter->enable(true);
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(logger_, "Set HDR merge filter params: "
logger_, "Set HDR merge filter params: " << "exposure_1: " << hdr_merge_exposure_1_ << "exposure_1: " << hdr_merge_exposure_1_
<< ", gain_1: " << hdr_merge_gain_1_ << ", gain_1: " << hdr_merge_gain_1_
<< ", exposure_2: " << hdr_merge_exposure_2_ << ", exposure_2: " << hdr_merge_exposure_2_
<< ", gain_2: " << hdr_merge_gain_2_); << ", gain_2: " << hdr_merge_gain_2_);
@@ -1415,6 +1415,15 @@ void OBCameraNode::setupPipelineConfig() {
if (enable_stream_[stream_index]) { if (enable_stream_[stream_index]) {
RCLCPP_INFO_STREAM(logger_, "Enable " << stream_name_[stream_index] << " stream"); RCLCPP_INFO_STREAM(logger_, "Enable " << stream_name_[stream_index] << " stream");
auto profile = stream_profile_[stream_index]->as<ob::VideoStreamProfile>(); auto profile = stream_profile_[stream_index]->as<ob::VideoStreamProfile>();
if (stream_index == COLOR && enable_stream_[COLOR] && align_filter_) {
auto video_profile = profile;
std::cout << "color video_profile: " << video_profile->getWidth() << "x"
<< video_profile->getHeight() << " " << video_profile->getFps() << "fps "
<< magic_enum::enum_name(video_profile->getFormat()) << std::endl;
align_filter_->setAlignToStreamProfile(video_profile);
}
RCLCPP_INFO_STREAM( RCLCPP_INFO_STREAM(
logger_, "Stream " << stream_name_[stream_index] << " width: " << profile->getWidth() logger_, "Stream " << stream_name_[stream_index] << " width: " << profile->getWidth()
<< " height: " << profile->getHeight() << " fps: " << profile->getFps() << " height: " << profile->getHeight() << " fps: " << profile->getFps()
@@ -1864,7 +1873,7 @@ void OBCameraNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set
if (depth_frame) { if (depth_frame) {
frame_set->pushFrame(depth_frame); frame_set->pushFrame(depth_frame);
} }
if (depth_registration_ && align_filter_ && depth_frame && color_frame) { if (depth_registration_ && align_filter_ && depth_frame) {
if (auto new_frame = align_filter_->process(frame_set)) { if (auto new_frame = align_filter_->process(frame_set)) {
auto new_frame_set = new_frame->as<ob::FrameSet>(); auto new_frame_set = new_frame->as<ob::FrameSet>();
CHECK_NOTNULL(new_frame_set.get()); CHECK_NOTNULL(new_frame_set.get());