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Add decimation_filter related parameters to the launch of Gemini 2 and Gemini 2 L

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jj
2025-02-10 14:05:02 +08:00
parent 91c5239ef1
commit 868fba3753
3 changed files with 26 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+22
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@@ -597,6 +597,28 @@ void OBCameraNode::setupDepthPostProcessFilter() {
RCLCPP_INFO_STREAM(logger_, "Skip setting filter: " << filter_name);
}
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
auto pid = device_info->getPid();
if (!isGemini335PID(pid)) {
if (enable_decimation_filter_) {
auto decimation_filter = std::make_shared<ob::DecimationFilter>();
decimation_filter->enable(true);
filter_list_.push_back(decimation_filter);
auto range = decimation_filter->getScaleRange();
if (decimation_filter_scale_ != -1 && decimation_filter_scale_ < range.max &&
decimation_filter_scale_ > range.min) {
RCLCPP_INFO_STREAM(logger_,
"Set decimation filter scale value to " << decimation_filter_scale_);
decimation_filter->setScaleValue(decimation_filter_scale_);
}
if (decimation_filter_scale_ != -1 &&
(decimation_filter_scale_ < range.min || decimation_filter_scale_ > range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range "
<< range.min << " - " << range.max);
}
}
}
}
void OBCameraNode::selectBaseStream() {