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Merge branch 'feat/mapping_filter_param' into merge/sdk_2.8.3

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ob-yalian
2026-04-15 15:45:09 +08:00
parent 490cd5fa02 bf55c4c867
commit 7ee6e0033c
1 changed files with 44 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+44 -6
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@@ -45,6 +45,43 @@ std::string OBCameraNode::normalizeDepthFilterName(const std::string &filter_nam
return filter_name;
}
namespace {
std::string getDepthFilterStatusName(const std::string &filter_name) {
if (filter_name == "SpatialAdvancedFilter") {
return "SpatialFilter";
}
if (filter_name == "DisparityTransform") {
return "DisparityToDepth";
}
return filter_name;
}
std::string getDepthFilterStatusParamName(const std::string &filter_name,
const std::string &param_name) {
if (filter_name == "SpatialAdvancedFilter" && param_name == "disp_diff") {
return "diff_threshold";
}
if (filter_name == "SpatialModerateFilter" && param_name == "disp_diff") {
return "diff_threshold";
}
if (filter_name == "TemporalFilter" && param_name == "diff_scale") {
return "diff_threshold";
}
if (filter_name == "DecimationFilter" && param_name == "decimate") {
return "scale";
}
return param_name;
}
bool shouldExposeDepthFilterParams(const std::string &filter_name) {
return filter_name != "MgcNoiseRemovalFilter" && filter_name != "LutNoiseRemovalFilter" &&
filter_name != "DisparityTransform" && filter_name != "FalsePositiveFilter" &&
filter_name != "EdgeNoiseRemovalFilter";
}
} // namespace
void OBCameraNode::appendDepthFilterParam(DepthFilterState &filter_state, const std::string &name,
const std::string &value) {
orbbec_camera_msgs::msg::DepthFilterParam param;
@@ -57,7 +94,7 @@ DepthFilterState OBCameraNode::buildDepthFilterState(
const std::string &filter_name, bool enabled, const std::shared_ptr<ob::Filter> &filter) const {
const auto normalized_filter_name = normalizeDepthFilterName(filter_name);
DepthFilterState filter_state;
filter_state.filter_name = normalized_filter_name;
filter_state.filter_name = getDepthFilterStatusName(normalized_filter_name);
filter_state.enabled = enabled;
auto to_param_value = [](const auto &value) {
std::ostringstream ss;
@@ -75,7 +112,8 @@ DepthFilterState OBCameraNode::buildDepthFilterState(
to_param_value(hardware_noise_removal_filter_threshold_));
}
if (filter_state.params.empty() && filter) {
if (filter_state.params.empty() && filter &&
shouldExposeDepthFilterParams(normalized_filter_name)) {
auto format_filter_config_value = [](const OBFilterConfigSchemaItem &config_schema,
double value) {
switch (config_schema.type) {
@@ -99,7 +137,7 @@ DepthFilterState OBCameraNode::buildDepthFilterState(
continue;
}
appendDepthFilterParam(
filter_state, config_schema.name,
filter_state, getDepthFilterStatusParamName(normalized_filter_name, config_schema.name),
format_filter_config_value(config_schema, filter->getConfigValue(config_schema.name)));
}
} catch (const std::exception &) {
@@ -1623,7 +1661,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
spatial_filter->setFilterParams(params);
}
auto current_params = spatial_filter->getFilterParams();
RCLCPP_INFO_STREAM(logger_, "Current SpatialAdvancedFilter params: "
RCLCPP_INFO_STREAM(logger_, "Current SpatialFilter params: "
<< "alpha=" << current_params.alpha << ", disp_diff="
<< current_params.disp_diff << ", magnitude="
<< static_cast<int>(current_params.magnitude)
@@ -5065,7 +5103,7 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
return;
}
enable_threshold_filter_ = request->filter_enable;
} else if (normalized_request_filter_name == "SpatialAdvancedFilter") {
} else if (normalized_request_filter_name == "SpatialFilter") {
auto spatial_filter = std::make_shared<ob::SpatialAdvancedFilter>();
spatial_filter->enable(request->filter_enable);
add_or_replace_filter(spatial_filter);
@@ -5076,7 +5114,7 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
params.magnitude = request->filter_param[2];
params.radius = request->filter_param[3];
spatial_filter->setFilterParams(params);
RCLCPP_INFO_STREAM(logger_, "Set SpatialAdvancedFilter params: "
RCLCPP_INFO_STREAM(logger_, "Set SpatialFilter params: "
<< "\nalpha:" << params.alpha
<< "\ndisp_diff:" << params.disp_diff
<< "\nmagnitude:" << static_cast<int>(params.magnitude)