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fix: align property-backed set_filter behavior

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This commit is contained in:
ob-yalian
2026-04-13 14:28:33 +08:00
parent d195044756
commit 86bda2ab6d
1 changed files with 76 additions and 85 deletions
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orbbec_camera/src/ob_camera_node.cpp
+76 -85
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@@ -4785,40 +4785,88 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
response->message = msg; response->message = msg;
}; };
const auto normalized_request_filter_name = normalizeDepthFilterName(request->filter_name); const auto normalized_request_filter_name = normalizeDepthFilterName(request->filter_name);
bool in_recommended_filter_list = false;
{
std::lock_guard<std::mutex> depth_filter_lock(depth_filter_mutex_);
in_recommended_filter_list =
std::find_if(depth_filter_list_.begin(), depth_filter_list_.end(),
[&normalized_request_filter_name](const auto &filter) {
return normalizeDepthFilterName(filter->type()) ==
normalized_request_filter_name;
}) != depth_filter_list_.end();
}
const bool is_noise_removal_filter = normalized_request_filter_name == "NoiseRemovalFilter"; const bool is_noise_removal_filter = normalized_request_filter_name == "NoiseRemovalFilter";
const bool is_hardware_noise_removal = const bool is_hardware_noise_removal_filter =
normalized_request_filter_name == "HardwareNoiseRemovalFilter"; normalized_request_filter_name == "HardwareNoiseRemovalFilter";
const bool noise_removal_property_writable = bool is_supported_by_property = false;
device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE) || if (is_noise_removal_filter) {
device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE) || is_supported_by_property =
device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE); device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE) ||
const bool hardware_noise_removal_property_writable = device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE) ||
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL, device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE);
OB_PERMISSION_READ_WRITE) || } else if (is_hardware_noise_removal_filter) {
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT, is_supported_by_property =
OB_PERMISSION_READ_WRITE); device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
const bool supported_by_writable_property = OB_PERMISSION_READ_WRITE) ||
(is_noise_removal_filter && noise_removal_property_writable) || device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
(is_hardware_noise_removal && hardware_noise_removal_property_writable); OB_PERMISSION_READ_WRITE);
if (!in_recommended_filter_list && !supported_by_writable_property) {
fail("Filter '" + request->filter_name + "' is not supported by this device");
return;
} }
RCLCPP_INFO_STREAM(logger_, "filter_name: " << request->filter_name << " filter_enable: " RCLCPP_INFO_STREAM(logger_, "filter_name: " << request->filter_name << " filter_enable: "
<< (request->filter_enable ? "true" : "false")); << (request->filter_enable ? "true" : "false"));
if (normalized_request_filter_name == "DecimationFilter") { if (is_noise_removal_filter || is_hardware_noise_removal_filter) {
if (!is_supported_by_property) {
fail("Filter '" + normalized_request_filter_name + "' is not supported by this device");
return;
}
if (is_noise_removal_filter) {
if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, request->filter_enable);
RCLCPP_INFO_STREAM(logger_, "enable_noise_removal_filter:" << request->filter_enable);
}
if (request->filter_param.size() > 1) {
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "default_noise_removal_filter_min_diff: "
<< default_noise_removal_filter_min_diff);
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, request->filter_param[0]);
auto new_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise_removal_filter_min_diff: "
<< new_noise_removal_filter_min_diff);
noise_removal_filter_min_diff_ = request->filter_param[0];
}
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT,
OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "default_noise_removal_filter_max_size: "
<< default_noise_removal_filter_max_size);
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, request->filter_param[1]);
auto new_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise_removal_filter_max_size: "
<< new_noise_removal_filter_max_size);
noise_removal_filter_max_size_ = request->filter_param[1];
}
}
enable_noise_removal_filter_ = request->filter_enable;
} else if (is_hardware_noise_removal_filter) {
if (device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
request->filter_enable);
RCLCPP_INFO_STREAM(logger_,
"Setting hardware_noise_removal_filter:" << request->filter_enable);
if (request->filter_param.size() > 0 &&
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
OB_PERMISSION_READ_WRITE)) {
if (request->filter_enable) {
device_->setFloatProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
request->filter_param[0]);
RCLCPP_INFO_STREAM(logger_, "Setting hardware_noise_removal_filter_threshold :"
<< request->filter_param[0]);
hardware_noise_removal_filter_threshold_ = request->filter_param[0];
}
} else {
fail("The filter switch setting is successful, but the filter parameter setting fails");
return;
}
}
enable_hardware_noise_removal_filter_ = request->filter_enable;
}
} else if (normalized_request_filter_name == "DecimationFilter") {
std::unique_lock<std::mutex> depth_filter_lock(depth_filter_mutex_); std::unique_lock<std::mutex> depth_filter_lock(depth_filter_mutex_);
auto it = std::remove_if(depth_filter_list_.begin(), depth_filter_list_.end(), auto it = std::remove_if(depth_filter_list_.begin(), depth_filter_list_.end(),
[&normalized_request_filter_name](const std::shared_ptr<ob::Filter> &filter) { [&normalized_request_filter_name](const std::shared_ptr<ob::Filter> &filter) {
@@ -4945,63 +4993,6 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
} }
enable_threshold_filter_ = request->filter_enable; enable_threshold_filter_ = request->filter_enable;
} else if (normalized_request_filter_name == "NoiseRemovalFilter") {
if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, request->filter_enable);
}
if (request->filter_param.size() > 1) {
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "default noise removal filter min diff: "
<< default_noise_removal_filter_min_diff);
device_->setIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT, request->filter_param[0]);
auto new_noise_removal_filter_min_diff =
device_->getIntProperty(OB_PROP_DEPTH_MAX_DIFF_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise removal filter min diff: "
<< new_noise_removal_filter_min_diff);
noise_removal_filter_min_diff_ = request->filter_param[0];
}
if (device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE)) {
auto default_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "default noise removal filter max size: "
<< default_noise_removal_filter_max_size);
device_->setIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, request->filter_param[1]);
auto new_noise_removal_filter_max_size =
device_->getIntProperty(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT);
RCLCPP_INFO_STREAM(logger_, "after set noise removal filter max size: "
<< new_noise_removal_filter_max_size);
noise_removal_filter_max_size_ = request->filter_param[1];
}
} else {
response->message =
"The filter switch setting is successful, but the filter parameter setting fails";
return;
}
enable_noise_removal_filter_ = request->filter_enable;
} else if (normalized_request_filter_name == "HardwareNoiseRemovalFilter") {
if (device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
request->filter_enable);
if (request->filter_param.size() > 0 &&
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
OB_PERMISSION_READ_WRITE)) {
if (request->filter_enable) {
device_->setFloatProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
request->filter_param[0]);
RCLCPP_INFO_STREAM(logger_, "Setting hardware noise removal filter threshold :"
<< request->filter_param[0]);
hardware_noise_removal_filter_threshold_ = request->filter_param[0];
}
} else {
response->message =
"The filter switch setting is successful, but the filter parameter setting fails";
return;
}
}
enable_hardware_noise_removal_filter_ = request->filter_enable;
} else if (normalized_request_filter_name == "SpatialAdvancedFilter") { } else if (normalized_request_filter_name == "SpatialAdvancedFilter") {
std::unique_lock<std::mutex> depth_filter_lock(depth_filter_mutex_); std::unique_lock<std::mutex> depth_filter_lock(depth_filter_mutex_);
auto it = std::remove_if(depth_filter_list_.begin(), depth_filter_list_.end(), auto it = std::remove_if(depth_filter_list_.begin(), depth_filter_list_.end(),