i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-07 21:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

[service] add set_all_software_filter_enable

Browse Source
This commit is contained in:
zhuangzi
2025-01-17 18:50:22 +08:00
parent 34c9d925cd
commit 7938908f11
2 changed files with 72 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ros_service.cpp
+68
View File
@@ -214,6 +214,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setHoleFillingFilterEnableCallback(request, response);
});
set_all_software_filter_enable_srv_ = node_->create_service<SetBool>(
"set_all_software_filter_enable", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setAllSoftwareFilterEnableCallback(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -1065,4 +1070,67 @@ void OBCameraNode::setHoleFillingFilterEnableCallback(
response->success = false;
}
}
void OBCameraNode::setAllSoftwareFilterEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
if (request->data) {
decimation_filter_scale_ = node_->get_parameter("decimation_filter_scale").as_int();
sequence_id_filter_id_ = node_->get_parameter("sequence_id_filter_id").as_int();
threshold_filter_max_ = node_->get_parameter("threshold_filter_max").as_int();
threshold_filter_min_ = node_->get_parameter("threshold_filter_min").as_int();
spatial_filter_alpha_ =
static_cast<float>(node_->get_parameter("spatial_filter_alpha").as_double());
spatial_filter_diff_threshold_ =
node_->get_parameter("spatial_filter_diff_threshold").as_int();
spatial_filter_magnitude_ = node_->get_parameter("spatial_filter_magnitude").as_int();
spatial_filter_radius_ = node_->get_parameter("spatial_filter_radius").as_int();
temporal_filter_diff_threshold_ =
static_cast<float>(node_->get_parameter("temporal_filter_diff_threshold").as_double());
temporal_filter_weight_ =
static_cast<float>(node_->get_parameter("temporal_filter_weight").as_double());
hole_filling_filter_mode_ = node_->get_parameter("hole_filling_filter_mode").as_string();
if (decimation_filter_scale_ == -1 || sequence_id_filter_id_ == -1 ||
threshold_filter_max_ == -1 || threshold_filter_min_ == -1 ||
spatial_filter_alpha_ == -1.0 || spatial_filter_diff_threshold_ == -1 ||
spatial_filter_magnitude_ == -1 || spatial_filter_radius_ == -1 ||
temporal_filter_diff_threshold_ == -1.0 || temporal_filter_weight_ == -1.0 ||
hole_filling_filter_mode_.empty()) {
return;
}
} else {
decimation_filter_scale_ = sequence_id_filter_id_ = threshold_filter_max_ =
threshold_filter_min_ = spatial_filter_diff_threshold_ = spatial_filter_magnitude_ =
spatial_filter_radius_ = -1;
spatial_filter_alpha_ = temporal_filter_diff_threshold_ = temporal_filter_weight_ = -1.0;
hole_filling_filter_mode_ = "";
node_->set_parameter(rclcpp::Parameter("decimation_filter_scale", decimation_filter_scale_));
node_->set_parameter(rclcpp::Parameter("sequence_id_filter_id", sequence_id_filter_id_));
node_->set_parameter(rclcpp::Parameter("threshold_filter_max", threshold_filter_max_));
node_->set_parameter(rclcpp::Parameter("threshold_filter_min", threshold_filter_min_));
node_->set_parameter(
rclcpp::Parameter("spatial_filter_diff_threshold", spatial_filter_diff_threshold_));
node_->set_parameter(
rclcpp::Parameter("spatial_filter_magnitude", spatial_filter_magnitude_));
node_->set_parameter(rclcpp::Parameter("spatial_filter_radius", spatial_filter_radius_));
node_->set_parameter(rclcpp::Parameter("spatial_filter_alpha", spatial_filter_alpha_));
node_->set_parameter(
rclcpp::Parameter("temporal_filter_diff_threshold", temporal_filter_diff_threshold_));
node_->set_parameter(rclcpp::Parameter("temporal_filter_weight", temporal_filter_weight_));
node_->set_parameter(
rclcpp::Parameter("hole_filling_filter_mode", hole_filling_filter_mode_));
}
setupDepthPostProcessFilter();
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
} // namespace orbbec_camera