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Add enable_disaparity_to_depth param in gemini_330_series.launch.py

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jj
2025-04-28 16:25:28 +08:00
parent 4969a7e5ca
commit 7796eecae7
3 changed files with 4 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -600,6 +600,7 @@ class OBCameraNode {
bool enable_decimation_filter_ = false;
bool enable_hdr_merge_ = false;
bool enable_sequence_id_filter_ = false;
bool enable_disaparity_to_depth_ = true;
bool enable_threshold_filter_ = false;
bool enable_hardware_noise_removal_filter_ = true;
bool enable_noise_removal_filter_ = true;
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -180,6 +180,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_disaparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+2
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@@ -807,6 +807,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
{"SpatialAdvancedFilter", enable_spatial_filter_},
{"TemporalFilter", enable_temporal_filter_},
{"HoleFillingFilter", enable_hole_filling_filter_},
{"DisparityTransform", enable_disaparity_to_depth_},
{"ThresholdFilter", enable_threshold_filter_},
};
std::string filter_name = filter->type();
@@ -1597,6 +1598,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_decimation_filter_, "enable_decimation_filter", false);
setAndGetNodeParameter<bool>(enable_hdr_merge_, "enable_hdr_merge", false);
setAndGetNodeParameter<bool>(enable_sequence_id_filter_, "enable_sequence_id_filter", false);
setAndGetNodeParameter<bool>(enable_disaparity_to_depth_, "enable_disaparity_to_depth", true);
setAndGetNodeParameter<bool>(enable_threshold_filter_, "enable_threshold_filter", false);
setAndGetNodeParameter<bool>(enable_hardware_noise_removal_filter_,
"enable_hardware_noise_removal_filter", true);