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[service] add set_spatial_filter_enable and set_temporal_filter_enable and set_hole_filling_filter_enable

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zhuangzi
2025-01-17 17:38:44 +08:00
parent a28040e7ad
commit 34c9d925cd
2 changed files with 133 additions and 0 deletions
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orbbec_camera/src/ros_service.cpp
+121
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@@ -199,6 +199,21 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setThresholdFilterEnableCallback(request, response);
});
set_spatial_filter_enable_srv_ = node_->create_service<SetBool>(
"set_spatial_filter_enable", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setSpatialFilterEnableCallback(request, response);
});
set_temporal_filter_enable_srv_ = node_->create_service<SetBool>(
"set_temporal_filter_enable", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setTemporalFilterEnableCallback(request, response);
});
set_hole_filling_filter_enable_srv_ = node_->create_service<SetBool>(
"set_hole_filling_filter_enable", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setHoleFillingFilterEnableCallback(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -944,4 +959,110 @@ void OBCameraNode::setThresholdFilterEnableCallback(
response->success = false;
}
}
void OBCameraNode::setSpatialFilterEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
enable_spatial_filter_ = request->data;
if (enable_spatial_filter_) {
spatial_filter_alpha_ =
static_cast<float>(node_->get_parameter("spatial_filter_alpha").as_double());
spatial_filter_diff_threshold_ =
node_->get_parameter("spatial_filter_diff_threshold").as_int();
spatial_filter_magnitude_ = node_->get_parameter("spatial_filter_magnitude").as_int();
spatial_filter_radius_ = node_->get_parameter("spatial_filter_radius").as_int();
if (spatial_filter_alpha_ == -1.0 || spatial_filter_diff_threshold_ == -1 ||
spatial_filter_magnitude_ == -1 || spatial_filter_radius_ == -1) {
return;
}
} else {
spatial_filter_alpha_ = -1.0;
spatial_filter_diff_threshold_ = -1;
spatial_filter_magnitude_ = -1;
spatial_filter_radius_ = -1;
node_->set_parameter(rclcpp::Parameter("spatial_filter_alpha", spatial_filter_alpha_));
node_->set_parameter(
rclcpp::Parameter("spatial_filter_diff_threshold", spatial_filter_diff_threshold_));
node_->set_parameter(
rclcpp::Parameter("spatial_filter_magnitude", spatial_filter_magnitude_));
node_->set_parameter(rclcpp::Parameter("spatial_filter_radius", spatial_filter_radius_));
}
setupDepthPostProcessFilter();
node_->set_parameter(rclcpp::Parameter("enable_spatial_filter", enable_spatial_filter_));
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::setTemporalFilterEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
enable_temporal_filter_ = request->data;
if (enable_temporal_filter_) {
temporal_filter_diff_threshold_ =
static_cast<float>(node_->get_parameter("temporal_filter_diff_threshold").as_double());
temporal_filter_weight_ =
static_cast<float>(node_->get_parameter("temporal_filter_weight").as_double());
if (temporal_filter_diff_threshold_ == -1.0 || temporal_filter_weight_ == -1.0) {
return;
}
} else {
temporal_filter_diff_threshold_ = -1.0;
temporal_filter_weight_ = -1.0;
node_->set_parameter(
rclcpp::Parameter("temporal_filter_diff_threshold", temporal_filter_diff_threshold_));
node_->set_parameter(rclcpp::Parameter("temporal_filter_weight", temporal_filter_weight_));
}
setupDepthPostProcessFilter();
node_->set_parameter(rclcpp::Parameter("enable_temporal_filter", enable_temporal_filter_));
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::setHoleFillingFilterEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
enable_hole_filling_filter_ = request->data;
if (enable_hole_filling_filter_) {
hole_filling_filter_mode_ = node_->get_parameter("hole_filling_filter_mode").as_string();
if (hole_filling_filter_mode_.empty()) {
return;
}
} else {
hole_filling_filter_mode_ = "";
node_->set_parameter(
rclcpp::Parameter("hole_filling_filter_mode", hole_filling_filter_mode_));
}
setupDepthPostProcessFilter();
node_->set_parameter(
rclcpp::Parameter("enable_hole_filling_filter", enable_hole_filling_filter_));
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
} // namespace orbbec_camera