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Merge branch 'feat/enhanced_depth_filter' into merge/ros_2.9.2

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ob-yalian
2026-07-13 17:28:05 +08:00
parent 893a5360f9 b49711c89c
commit 19ca0c72b9
9 changed files with 465 additions and 18 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+22
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@@ -43,6 +43,7 @@
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <camera_info_manager/camera_info_manager.hpp>
#include <image_publisher/image_publisher.hpp>
@@ -334,6 +335,7 @@ class OBCameraNode {
DepthFilterState buildDepthFilterState(const std::string& filter_name, bool enabled,
const std::shared_ptr<ob::Filter>& filter) const;
DepthFilterState buildEnhancedDepthFilterState() const;
static std::string normalizeDepthFilterName(const std::string& filter_name);
@@ -345,6 +347,18 @@ class OBCameraNode {
bool applyNamedDepthFilterConfig(
const std::string& filter_name, bool enabled,
const std::vector<orbbec_camera_msgs::msg::DepthFilterParam>& params, std::string& message);
bool applyEnhancedDepthFilterConfig(
bool enabled, const std::vector<float>& positional_params,
const std::vector<orbbec_camera_msgs::msg::DepthFilterParam>& named_params,
std::string& message);
bool validateEnhancedDepthFilterConfig(std::string& message) const;
bool ensureEnhancedDepthFilter(std::string& message);
void applyEnhancedDepthConfidenceThreshold();
std::shared_ptr<ob::FrameSet> processEnhancedDepthFilter(
const std::shared_ptr<ob::FrameSet>& frame_set);
bool convertEnhancedDepthColorFrame(const std::shared_ptr<ob::FrameSet>& frame_set);
void setupConfidencePublishers();
void publishConfidenceFrame(const std::shared_ptr<ob::Frame>& confidence_frame);
void setupCameraInfo();
@@ -962,6 +976,14 @@ class OBCameraNode {
double diagnostic_period_ = 1.0;
bool enable_laser_ = false;
std::unique_ptr<ob::Align> align_filter_ = nullptr;
std::shared_ptr<ob::EnhancedDepthFilter> enhanced_depth_filter_ = nullptr;
ob::FormatConvertFilter enhanced_depth_format_convert_filter_;
std::mutex enhanced_depth_filter_mutex_;
std::atomic_bool enable_enhanced_depth_{false};
std::string enhanced_depth_model_path_;
int enhanced_depth_confidence_threshold_ = -1;
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr confidence_image_publisher_;
cv::Mat confidence_image_;
OBStreamType align_target_stream_ = OB_STREAM_COLOR;
bool retry_on_usb3_detection_failure_ = false;
bool config_json_loaded_ = false;