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Fixed filter params

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This commit is contained in:
Joe Dong
2024-05-14 14:42:09 +08:00
parent 4249cd126e
commit 74b6b6e61a
2 changed files with 8 additions and 3 deletions
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orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
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@@ -66,7 +66,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_info_url', default_value=''), DeclareLaunchArgument('color_info_url', default_value=''),
DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='true'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+7 -2
View File
@@ -216,9 +216,15 @@ void OBCameraNode::setupDevices() {
sequenced_filter->selectSequenceId(sequence_id_filter_id_); sequenced_filter->selectSequenceId(sequence_id_filter_id_);
} else if (filter_name == "NoiseRemovalFilter" && enable_noise_removal_filter_) { } 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 = noise_removal_filter->getFilterParams();
RCLCPP_INFO_STREAM(
logger_, "Default noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
params.disp_diff = noise_removal_filter_min_diff_; params.disp_diff = noise_removal_filter_min_diff_;
params.max_size = noise_removal_filter_max_size_; params.max_size = noise_removal_filter_max_size_;
RCLCPP_INFO_STREAM(
logger_, "Set noise removal filter params: " << "disp_diff: " << params.disp_diff
<< ", max_size: " << params.max_size);
noise_removal_filter->setFilterParams(params); noise_removal_filter->setFilterParams(params);
} else if (filter_name == "HDRMerge") { } else if (filter_name == "HDRMerge") {
// do nothing // do nothing
@@ -1246,7 +1252,6 @@ std::shared_ptr<ob::Frame> OBCameraNode::processDepthFrameFilter(
auto filter = filter_list->getFilter(i); auto filter = filter_list->getFilter(i);
CHECK_NOTNULL(filter.get()); CHECK_NOTNULL(filter.get());
if (filter->isEnabled() && frame != nullptr) { if (filter->isEnabled() && frame != nullptr) {
RCLCPP_INFO_STREAM(logger_, "Processing depth frame with filter: " << filter->type());
frame = filter->process(frame); frame = filter->process(frame);
if (frame == nullptr) { if (frame == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Depth filter process failed"); RCLCPP_ERROR_STREAM(logger_, "Depth filter process failed");