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Fix the issue that decimation_filter_scale cannot be set to 1

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jj
2025-05-13 17:19:38 +08:00
parent 392cd9715e
commit 5aa00a44c0
2 changed files with 6 additions and 7 deletions
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orbbec_camera/launch/gemini435_le.launch.py
+1 -2
View File
@@ -161,7 +161,7 @@ def generate_launch_description():
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices # Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
# If you do not want to automatically enumerate network devices, # If you do not want to automatically enumerate network devices,
# you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090 # you can set enumerate_net_device to true, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
DeclareLaunchArgument("enumerate_net_device", default_value="true"), DeclareLaunchArgument("enumerate_net_device", default_value='true'),
DeclareLaunchArgument("net_device_ip", default_value=""), DeclareLaunchArgument("net_device_ip", default_value=""),
DeclareLaunchArgument("net_device_port", default_value="0"), DeclareLaunchArgument("net_device_port", default_value="0"),
DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('log_level', default_value='none'),
@@ -178,7 +178,6 @@ def generate_launch_description():
DeclareLaunchArgument('trigger_out_enabled', default_value='true'), DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
DeclareLaunchArgument('frames_per_trigger', default_value='2'), DeclareLaunchArgument('frames_per_trigger', default_value='2'),
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
DeclareLaunchArgument('enable_frame_sync', default_value='true'), DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'), DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'), DeclareLaunchArgument('enable_depth_scale', default_value='true'),
orbbec_camera/src/ob_camera_node.cpp
+5 -5
View File
@@ -751,8 +751,8 @@ void OBCameraNode::setupColorPostProcessFilter() {
<< color_decimation_filter_scale_); << color_decimation_filter_scale_);
decimation_filter->setScaleValue(color_decimation_filter_scale_); decimation_filter->setScaleValue(color_decimation_filter_scale_);
} }
if (color_decimation_filter_scale_ != -1 && (color_decimation_filter_scale_ <= range.min || if (color_decimation_filter_scale_ != -1 && (color_decimation_filter_scale_ < range.min ||
color_decimation_filter_scale_ >= range.max)) { color_decimation_filter_scale_ > range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Color Decimation filter scale value is out of range " RCLCPP_ERROR_STREAM(logger_, "Color Decimation filter scale value is out of range "
<< range.min << " - " << range.max); << range.min << " - " << range.max);
} }
@@ -866,7 +866,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
decimation_filter->setScaleValue(decimation_filter_scale_); decimation_filter->setScaleValue(decimation_filter_scale_);
} }
if (decimation_filter_scale_ != -1 && if (decimation_filter_scale_ != -1 &&
(decimation_filter_scale_ <= range.min || decimation_filter_scale_ >= range.max)) { (decimation_filter_scale_ < range.min || decimation_filter_scale_ > range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range " RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range "
<< range.min << " - " << range.max); << range.min << " - " << range.max);
} }
@@ -948,7 +948,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
decimation_filter->setScaleValue(decimation_filter_scale_); decimation_filter->setScaleValue(decimation_filter_scale_);
} }
if (decimation_filter_scale_ != -1 && if (decimation_filter_scale_ != -1 &&
(decimation_filter_scale_ <= range.min || decimation_filter_scale_ >= range.max)) { (decimation_filter_scale_ < range.min || decimation_filter_scale_ > range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range " RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range "
<< range.min << " - " << range.max); << range.min << " - " << range.max);
} }
@@ -3483,7 +3483,7 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
decimation_filter->setScaleValue(decimation_filter_scale); decimation_filter->setScaleValue(decimation_filter_scale);
} }
if (decimation_filter_scale != -1 && if (decimation_filter_scale != -1 &&
(decimation_filter_scale <= range.min || decimation_filter_scale >= range.max)) { (decimation_filter_scale < range.min || decimation_filter_scale > range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range " RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range "
<< range.min << " - " << range.max); << range.min << " - " << range.max);
} }