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Refactor depth filter configuration

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This commit is contained in:
jj
2024-11-08 11:02:20 +08:00
parent 6c95ae880c
commit 37c785077f
1 changed files with 2 additions and 9 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -9
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@@ -321,15 +321,8 @@ 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_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_noise_removal_filter_);
}
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {