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update params

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This commit is contained in:
Joe Dong
2024-04-18 17:57:31 +08:00
parent 81f1ed327c
commit 425813f58c
2 changed files with 11 additions and 11 deletions
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orbbec_camera/launch/gemini2R.launch.py
+1 -1
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@@ -86,7 +86,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'), DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('enable_threshold_filter', default_value='false'), DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'), DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('enable_spatial_filter', default_value='true'), DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale_range', default_value='2'), DeclareLaunchArgument('decimation_filter_scale_range', default_value='2'),
orbbec_camera/src/ob_camera_node.cpp
+10 -10
View File
@@ -144,6 +144,7 @@ void OBCameraNode::setupDevices() {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_); device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);
device_->setIntProperty(OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_); device_->setIntProperty(OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
device_->loadPreset(device_preset_.c_str()); device_->loadPreset(device_preset_.c_str());
return;
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH); auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
// set depth sensor to filter // set depth sensor to filter
auto filter_list = depth_sensor->getRecommendedFilters(); auto filter_list = depth_sensor->getRecommendedFilters();
@@ -168,13 +169,13 @@ void OBCameraNode::setupDevices() {
filter->enable(filter_params[filter_name]); filter->enable(filter_params[filter_name]);
filter_status_[filter_name] = filter_params[filter_name]; filter_status_[filter_name] = filter_params[filter_name];
} }
if (filter_name == "DecimationFilter") { if (filter_name == "DecimationFilter" && enable_decimation_filter_) {
auto decimation_filter = filter->as<ob::DecimationFilter>(); auto decimation_filter = filter->as<ob::DecimationFilter>();
decimation_filter->setScaleValue(decimation_filter_scale_range_); decimation_filter->setScaleValue(decimation_filter_scale_range_);
} else if (filter_name == "ThresholdFilter") { } else if (filter_name == "ThresholdFilter" && enable_threshold_filter_) {
auto threshold_filter = filter->as<ob::ThresholdFilter>(); auto threshold_filter = filter->as<ob::ThresholdFilter>();
threshold_filter->setValueRange(threshold_filter_min_, threshold_filter_max_); threshold_filter->setValueRange(threshold_filter_min_, threshold_filter_max_);
} else if (filter_name == "SpatialAdvancedFilter") { } else if (filter_name == "SpatialAdvancedFilter" && enable_spatial_filter_) {
auto spatial_filter = filter->as<ob::SpatialAdvancedFilter>(); auto spatial_filter = filter->as<ob::SpatialAdvancedFilter>();
OBSpatialAdvancedFilterParams params{}; OBSpatialAdvancedFilterParams params{};
params.alpha = spatial_filter_alpha_; params.alpha = spatial_filter_alpha_;
@@ -182,18 +183,18 @@ void OBCameraNode::setupDevices() {
params.radius = spatial_filter_radius_; params.radius = spatial_filter_radius_;
params.disp_diff = spatial_filter_diff_threshold_; params.disp_diff = spatial_filter_diff_threshold_;
spatial_filter->setFilterParams(params); spatial_filter->setFilterParams(params);
} else if (filter_name == "TemporalFilter") { } else if (filter_name == "TemporalFilter" && enable_temporal_filter_) {
auto temporal_filter = filter->as<ob::TemporalFilter>(); auto temporal_filter = filter->as<ob::TemporalFilter>();
temporal_filter->setDiffScale(temporal_filter_diff_threshold_); temporal_filter->setDiffScale(temporal_filter_diff_threshold_);
temporal_filter->setWeight(temporal_filter_weight_); temporal_filter->setWeight(temporal_filter_weight_);
} else if (filter_name == "HoleFillingFilter") { } else if (filter_name == "HoleFillingFilter" && enable_hole_filling_filter_) {
auto hole_filling_filter = filter->as<ob::HoleFillingFilter>(); auto hole_filling_filter = filter->as<ob::HoleFillingFilter>();
OBHoleFillingMode hole_filling_mode = holeFillingModeFromString(hole_filling_filter_mode_); OBHoleFillingMode hole_filling_mode = holeFillingModeFromString(hole_filling_filter_mode_);
hole_filling_filter->setFilterMode(hole_filling_mode); hole_filling_filter->setFilterMode(hole_filling_mode);
} else if (filter_name == "SequenceIdFilter") { } else if (filter_name == "SequenceIdFilter" && enable_sequence_id_filter_) {
auto sequenced_filter = filter->as<ob::SequenceIdFilter>(); auto sequenced_filter = filter->as<ob::SequenceIdFilter>();
sequenced_filter->selectSequenceId(sequence_id_filter_id_); sequenced_filter->selectSequenceId(sequence_id_filter_id_);
} else if (filter_name == "NoiseRemovalFilter") { } else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) {
auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>(); auto noise_removal_filter = filter->as<ob::NoiseRemovalFilter>();
OBNoiseRemovalFilterParams params{}; OBNoiseRemovalFilterParams params{};
params.disp_diff = noise_removal_filter_min_diff_; params.disp_diff = noise_removal_filter_min_diff_;
@@ -222,7 +223,7 @@ void OBCameraNode::setupDevices() {
auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT); auto default_precision_level = device_->getIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT);
if (default_precision_level != depth_precision_) { if (default_precision_level != depth_precision_) {
device_->setIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT, depth_precision_); device_->setIntProperty(OB_PROP_DEPTH_PRECISION_LEVEL_INT, depth_precision_);
RCLCPP_INFO_STREAM(logger_, "set depth precision to " << depth_precision_str_); RCLCPP_INFO_STREAM(logger_, "set depth precision to " << depth_precision_str_);
} }
} }
if (device_->isPropertySupported(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT, if (device_->isPropertySupported(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT,
@@ -237,8 +238,7 @@ void OBCameraNode::setupDevices() {
logger_, logger_,
"depth unit flexible adjustment value is out of range, please check the value"); "depth unit flexible adjustment value is out of range, please check the value");
} else { } else {
RCLCPP_INFO_STREAM(logger_, "set depth unit to " RCLCPP_INFO_STREAM(logger_, "set depth unit to " << depth_unit_flexible_adjustment << "mm");
<< depth_unit_flexible_adjustment << "mm");
device_->setFloatProperty(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT, device_->setFloatProperty(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT,
depth_unit_flexible_adjustment); depth_unit_flexible_adjustment);
} }