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Update filter default params

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This commit is contained in:
Joe Dong
2024-05-15 13:44:53 +08:00
parent 166ba9f6e9
commit 39896ddab3
3 changed files with 111 additions and 55 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+16 -12
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@@ -499,19 +499,23 @@ class OBCameraNode {
bool enable_temporal_filter_ = false;
bool enable_hole_filling_filter_ = false;
// filter params
int decimation_filter_scale_range_ = 2;
int sequence_id_filter_id_ = 1;
int threshold_filter_max_ = 16000;
int threshold_filter_min_ = 0;
int noise_removal_filter_min_diff_ = 8;
int decimation_filter_scale_ = -1;
int sequence_id_filter_id_ = -1;
int threshold_filter_max_ = -1;
int threshold_filter_min_ = -1;
int noise_removal_filter_min_diff_ = 256;
int noise_removal_filter_max_size_ = 80;
float spatial_filter_alpha_ = 0.5;
int spatial_filter_diff_threshold_ = 8;
int spatial_filter_magnitude_ = 1;
int spatial_filter_radius_ = 1;
float temporal_filter_diff_threshold_ = 0.1;
float temporal_filter_weight_ = 0.4;
std::string hole_filling_filter_mode_ = "FILL_TOP";
float spatial_filter_alpha_ = -1;
int spatial_filter_diff_threshold_ = -1;
int spatial_filter_magnitude_ = -1;
int spatial_filter_radius_ = -1;
float temporal_filter_diff_threshold_ = -1.0;
float temporal_filter_weight_ = -1.0;
std::string hole_filling_filter_mode_;
int hdr_merge_exposure_1_ = -1;
int hdr_merge_gain_1_ = -1;
int hdr_merge_exposure_2_ = -1;
int hdr_merge_gain_2_ = -1;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr filter_status_pub_;
nlohmann::json filter_status_;