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[service] Add set_noise_removal_filter_enable and fix setAllSoftwareFilterEnableCallback

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This commit is contained in:
zhuangzi
2025-01-20 15:56:09 +08:00
parent 7938908f11
commit 37851998bd
2 changed files with 73 additions and 1 deletions
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orbbec_camera/src/ros_service.cpp
+69 -1
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@@ -214,6 +214,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setHoleFillingFilterEnableCallback(request, response);
});
set_noise_removal_filter_enable_srv_ = node_->create_service<SetBool>(
"set_noise_removal_filter_enable", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setNoiseRemovalFilterEnableCallback(request, response);
});
set_all_software_filter_enable_srv_ = node_->create_service<SetBool>(
"set_all_software_filter_enable", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
@@ -1070,6 +1075,42 @@ void OBCameraNode::setHoleFillingFilterEnableCallback(
response->success = false;
}
}
void OBCameraNode::setNoiseRemovalFilterEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
enable_noise_removal_filter_ = request->data;
if (enable_noise_removal_filter_) {
noise_removal_filter_min_diff_ =
node_->get_parameter("noise_removal_filter_min_diff").as_int();
noise_removal_filter_max_size_ =
node_->get_parameter("noise_removal_filter_max_size").as_int();
if (noise_removal_filter_min_diff_ == -1 || noise_removal_filter_max_size_ == -1) {
return;
}
} else {
noise_removal_filter_min_diff_ = -1;
noise_removal_filter_max_size_ = -1;
node_->set_parameter(
rclcpp::Parameter("noise_removal_filter_min_diff", noise_removal_filter_min_diff_));
node_->set_parameter(
rclcpp::Parameter("noise_removal_filter_max_size", noise_removal_filter_max_size_));
}
setupDepthPostProcessFilter();
node_->set_parameter(
rclcpp::Parameter("enable_noise_removal_filter", enable_noise_removal_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::setAllSoftwareFilterEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
@@ -1085,6 +1126,10 @@ void OBCameraNode::setAllSoftwareFilterEnableCallback(
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();
noise_removal_filter_min_diff_ =
node_->get_parameter("noise_removal_filter_min_diff").as_int();
noise_removal_filter_max_size_ =
node_->get_parameter("noise_removal_filter_max_size").as_int();
temporal_filter_diff_threshold_ =
static_cast<float>(node_->get_parameter("temporal_filter_diff_threshold").as_double());
temporal_filter_weight_ =
@@ -1094,14 +1139,23 @@ void OBCameraNode::setAllSoftwareFilterEnableCallback(
threshold_filter_max_ == -1 || threshold_filter_min_ == -1 ||
spatial_filter_alpha_ == -1.0 || spatial_filter_diff_threshold_ == -1 ||
spatial_filter_magnitude_ == -1 || spatial_filter_radius_ == -1 ||
noise_removal_filter_min_diff_ == -1 || noise_removal_filter_max_size_ == -1 ||
temporal_filter_diff_threshold_ == -1.0 || temporal_filter_weight_ == -1.0 ||
hole_filling_filter_mode_.empty()) {
return;
} else {
enable_decimation_filter_ = enable_sequence_id_filter_ = enable_threshold_filter_ =
enable_noise_removal_filter_ = enable_spatial_filter_ = enable_temporal_filter_ =
enable_hole_filling_filter_ = true;
}
} else {
enable_decimation_filter_ = enable_sequence_id_filter_ = enable_threshold_filter_ =
enable_noise_removal_filter_ = enable_spatial_filter_ = enable_temporal_filter_ =
enable_hole_filling_filter_ = false;
decimation_filter_scale_ = sequence_id_filter_id_ = threshold_filter_max_ =
threshold_filter_min_ = spatial_filter_diff_threshold_ = spatial_filter_magnitude_ =
spatial_filter_radius_ = -1;
spatial_filter_radius_ = noise_removal_filter_min_diff_ =
noise_removal_filter_max_size_ = -1;
spatial_filter_alpha_ = temporal_filter_diff_threshold_ = temporal_filter_weight_ = -1.0;
hole_filling_filter_mode_ = "";
node_->set_parameter(rclcpp::Parameter("decimation_filter_scale", decimation_filter_scale_));
@@ -1114,6 +1168,10 @@ void OBCameraNode::setAllSoftwareFilterEnableCallback(
rclcpp::Parameter("spatial_filter_magnitude", spatial_filter_magnitude_));
node_->set_parameter(rclcpp::Parameter("spatial_filter_radius", spatial_filter_radius_));
node_->set_parameter(rclcpp::Parameter("spatial_filter_alpha", spatial_filter_alpha_));
node_->set_parameter(
rclcpp::Parameter("noise_removal_filter_min_diff", noise_removal_filter_min_diff_));
node_->set_parameter(
rclcpp::Parameter("noise_removal_filter_max_size", noise_removal_filter_max_size_));
node_->set_parameter(
rclcpp::Parameter("temporal_filter_diff_threshold", temporal_filter_diff_threshold_));
node_->set_parameter(rclcpp::Parameter("temporal_filter_weight", temporal_filter_weight_));
@@ -1121,6 +1179,16 @@ void OBCameraNode::setAllSoftwareFilterEnableCallback(
rclcpp::Parameter("hole_filling_filter_mode", hole_filling_filter_mode_));
}
setupDepthPostProcessFilter();
node_->set_parameter(rclcpp::Parameter("enable_decimation_filter", enable_decimation_filter_));
node_->set_parameter(
rclcpp::Parameter("enable_sequence_id_filter", enable_sequence_id_filter_));
node_->set_parameter(rclcpp::Parameter("enable_threshold_filter", enable_threshold_filter_));
node_->set_parameter(rclcpp::Parameter("enable_spatial_filter", enable_spatial_filter_));
node_->set_parameter(
rclcpp::Parameter("enable_noise_removal_filter", enable_noise_removal_filter_));
node_->set_parameter(rclcpp::Parameter("enable_temporal_filter", enable_temporal_filter_));
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();