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feat: add false positive filter support in camera node and launch file

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ob-yalian
2026-01-27 20:48:44 +08:00
parent 949a663e47
commit 68cf858ad4
3 changed files with 6 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3
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@@ -1202,6 +1202,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
{"ThresholdFilter", enable_threshold_filter_},
{"SpatialFastFilter", enable_spatial_fast_filter_},
{"SpatialModerateFilter", enable_spatial_moderate_filter_},
{"FalsePositiveFilter", enable_false_positive_filter_},
};
std::string filter_name = filter->type();
RCLCPP_INFO_STREAM(logger_, "Setting " << filter_name << "......");
@@ -2147,6 +2148,8 @@ void OBCameraNode::getParameters() {
-1.0);
setAndGetNodeParameter<float>(temporal_filter_weight_, "temporal_filter_weight", -1.0);
setAndGetNodeParameter<std::string>(hole_filling_filter_mode_, "hole_filling_filter_mode", "");
setAndGetNodeParameter<bool>(enable_false_positive_filter_, "enable_false_positive_filter",
false);
setAndGetNodeParameter<int>(hdr_merge_exposure_1_, "hdr_merge_exposure_1", -1);
setAndGetNodeParameter<int>(hdr_merge_gain_1_, "hdr_merge_gain_1", -1);
setAndGetNodeParameter<int>(hdr_merge_exposure_2_, "hdr_merge_exposure_2", -1);