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Fix depth filter configuration handling in setupDevices method

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This commit is contained in:
obyalian
2025-09-04 10:46:04 +08:00
parent 22eacdc858
commit 152cdb7bc4
1 changed files with 16 additions and 11 deletions
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orbbec_camera/src/ob_camera_node.cpp
+16 -11
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@@ -139,6 +139,17 @@ void OBCameraNode::clean() noexcept {
}
void OBCameraNode::setupDevices() {
if (!depth_filter_config_.empty() && enable_depth_filter_) {
RCLCPP_INFO_STREAM(logger_, "Load depth filter config: " << depth_filter_config_);
TRY_EXECUTE_BLOCK(device_->loadDepthFilterConfig(depth_filter_config_.c_str()));
} else {
if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
}
else{
RCLCPP_WARN_STREAM(logger_, "Depth filter config is empty and soft filter is not supported");
}
}
auto sensor_list = device_->getSensorList();
for (size_t i = 0; i < sensor_list->count(); i++) {
auto sensor = sensor_list->getSensor(i);
@@ -168,8 +179,11 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,
auto device_info = device_->getDeviceInfo();
auto pid = device_info->pid();
if (isGemini335PID(pid) &&device_->isPropertySupported(OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,
OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_,"------------- Setting depth noise removal----------");
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,
enable_noise_removal_filter_);
}
@@ -369,16 +383,7 @@ void OBCameraNode::setupDevices() {
}
}
if (!depth_filter_config_.empty() && enable_depth_filter_) {
RCLCPP_INFO_STREAM(logger_, "Load depth filter config: " << depth_filter_config_);
TRY_EXECUTE_BLOCK(device_->loadDepthFilterConfig(depth_filter_config_.c_str()));
} else {
if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_,
"Setting depth soft filter to " << (enable_soft_filter_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
}
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting color auto white balance to "