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add max_size and min_diff judgment

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This commit is contained in:
jj
2024-11-19 19:10:24 +08:00
parent aad85b74be
commit 1fa3337c7e
1 changed files with 15 additions and 16 deletions
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orbbec_camera/src/ob_camera_node.cpp
+15 -16
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@@ -434,28 +434,27 @@ void OBCameraNode::setupDevices() {
}
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_soft_filter_max_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "default_soft_filter_max_diff: " << default_soft_filter_max_diff);
if (soft_filter_max_diff_ != -1 && default_soft_filter_max_diff != soft_filter_max_diff_) {
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, soft_filter_max_diff_);
auto new_soft_filter_max_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "after set soft_filter_max_diff: " << new_soft_filter_max_diff);
auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_,"default_noise_removal_filter_min_diff: " << default_noise_removal_filter_min_diff);
if (noise_removal_filter_min_diff_ != -1 &&
default_noise_removal_filter_min_diff != noise_removal_filter_min_diff_) {
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, noise_removal_filter_min_diff_);
auto new_noise_removal_filter_min_diff = device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_,"after set noise_removal_filter_min_diff: " << new_noise_removal_filter_min_diff);
}
}
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
auto default_soft_filter_speckle_size =
auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_,
"default_soft_filter_speckle_size: " << default_soft_filter_speckle_size);
if (soft_filter_speckle_size_ != -1 &&
default_soft_filter_speckle_size != soft_filter_speckle_size_) {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT,
soft_filter_speckle_size_);
auto new_soft_filter_speckle_size =
RCLCPP_INFO_STREAM(logger_,"default_noise_removal_filter_max_size: " << default_noise_removal_filter_max_size);
if (noise_removal_filter_max_size_ != -1 &&
default_noise_removal_filter_max_size != noise_removal_filter_max_size_) {
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, noise_removal_filter_max_size_);
auto new_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_,
"after set soft_filter_speckle_size: " << new_soft_filter_speckle_size);
RCLCPP_INFO_STREAM(logger_,"after set noise_removal_filter_max_size: " << new_noise_removal_filter_max_size);
}
}
}