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feat: Enable noise removal filter in camera node setup

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This commit is contained in:
Joe Dong
2024-08-22 14:30:01 +08:00
parent 80d38f6766
commit 899aeed295
2 changed files with 6 additions and 0 deletions
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orbbec_camera/launch/gemini2L.launch.py
+1
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@@ -94,6 +94,7 @@ def generate_launch_description():
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'),
] ]
# Node configuration # Node configuration
orbbec_camera/src/ob_camera_node.cpp
+5
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@@ -175,6 +175,11 @@ void OBCameraNode::setupDevices() {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL, TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_); retry_on_usb3_detection_failure_);
} }
if (device_->isPropertySupported(OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,
OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_BOOL,
enable_noise_removal_filter_);
}
if (device_->isPropertySupported(OB_PROP_HEARTBEAT_BOOL, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_HEARTBEAT_BOOL, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_); TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
} }