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refactor: remove OpenNI UVC device checks and simplify noise removal filter setup

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slz
2026-03-25 13:40:57 +08:00
parent a51cc2b4b8
commit 8d3929ae49
1 changed files with 16 additions and 45 deletions
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orbbec_camera/src/ob_camera_node.cpp
+16 -45
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@@ -38,18 +38,6 @@
namespace orbbec_camera { namespace orbbec_camera {
using namespace std::chrono_literals; using namespace std::chrono_literals;
namespace {
constexpr uint32_t ASTRA_MINI_PRO_UVC_PID = 0x065b;
constexpr uint32_t ASTRA_MINI_S_PRO_UVC_PID = 0x0698;
constexpr uint32_t DABAI_DCW2_UVC_PID = 0x06a0;
constexpr uint32_t DABAI_MAX_PRO_UVC_PID = 0x069e;
bool isOpenNIUvcMgcLutSupportedDevice(uint32_t pid) {
return pid == ASTRA_MINI_PRO_UVC_PID || pid == ASTRA_MINI_S_PRO_UVC_PID ||
pid == DABAI_DCW2_UVC_PID || pid == DABAI_MAX_PRO_UVC_PID;
}
} // namespace
OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> device, OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> device,
std::shared_ptr<Parameters> parameters, bool use_intra_process) std::shared_ptr<Parameters> parameters, bool use_intra_process)
: node_(node), : node_(node),
@@ -1229,27 +1217,24 @@ void OBCameraNode::setupDepthPostProcessFilter() {
RCLCPP_WARN_STREAM(logger_, "Failed to get depth sensor filter list"); RCLCPP_WARN_STREAM(logger_, "Failed to get depth sensor filter list");
return; return;
} }
std::map<std::string, bool> filter_params = {
{"DecimationFilter", enable_decimation_filter_},
{"HDRMerge", enable_hdr_merge_},
{"SequenceIdFilter", enable_sequence_id_filter_},
{"SpatialAdvancedFilter", enable_spatial_filter_},
{"TemporalFilter", enable_temporal_filter_},
{"HoleFillingFilter", enable_hole_filling_filter_},
{"DisparityTransform", enable_disparity_to_depth_},
{"ThresholdFilter", enable_threshold_filter_},
{"SpatialFastFilter", enable_spatial_fast_filter_},
{"SpatialModerateFilter", enable_spatial_moderate_filter_},
{"FalsePositiveFilter", enable_false_positive_filter_},
{"MgcNoiseRemovalFilter", enable_mgc_noise_removal_filter_},
{"LutNoiseRemovalFilter", enable_lut_noise_removal_filter_},
};
for (size_t i = 0; i < depth_filter_list_.size(); i++) { for (size_t i = 0; i < depth_filter_list_.size(); i++) {
auto filter = depth_filter_list_[i]; auto filter = depth_filter_list_[i];
const bool enable_openni_uvc_mgc_filter =
isOpenNIUvcMgcLutSupportedDevice(pid_) && enable_mgc_noise_removal_filter_;
const bool enable_openni_uvc_lut_filter =
isOpenNIUvcMgcLutSupportedDevice(pid_) && enable_lut_noise_removal_filter_;
std::map<std::string, bool> filter_params = {
{"DecimationFilter", enable_decimation_filter_},
{"HDRMerge", enable_hdr_merge_},
{"SequenceIdFilter", enable_sequence_id_filter_},
{"SpatialAdvancedFilter", enable_spatial_filter_},
{"TemporalFilter", enable_temporal_filter_},
{"HoleFillingFilter", enable_hole_filling_filter_},
{"DisparityTransform", enable_disparity_to_depth_},
{"ThresholdFilter", enable_threshold_filter_},
{"SpatialFastFilter", enable_spatial_fast_filter_},
{"SpatialModerateFilter", enable_spatial_moderate_filter_},
{"FalsePositiveFilter", enable_false_positive_filter_},
{"MgcNoiseRemovalFilter", enable_openni_uvc_mgc_filter},
{"LutNoiseRemovalFilter", enable_openni_uvc_lut_filter},
};
std::string filter_name = filter->type(); std::string filter_name = filter->type();
RCLCPP_INFO_STREAM(logger_, "Setting " << filter_name << "......"); RCLCPP_INFO_STREAM(logger_, "Setting " << filter_name << "......");
if (filter_params.find(filter_name) != filter_params.end()) { if (filter_params.find(filter_name) != filter_params.end()) {
@@ -4685,24 +4670,10 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
false_positive_filter->enable(request->filter_enable); false_positive_filter->enable(request->filter_enable);
depth_filter_list_.push_back(false_positive_filter); depth_filter_list_.push_back(false_positive_filter);
} else if (request->filter_name == "MgcNoiseRemovalFilter") { } else if (request->filter_name == "MgcNoiseRemovalFilter") {
if (!isOpenNIUvcMgcLutSupportedDevice(pid_)) {
response->success = false;
response->message =
"MgcNoiseRemovalFilter only supports OpenNI UVC devices: "
"0x065b/0x0698/0x06a0/0x069e";
return;
}
auto mgc_filter = std::make_shared<ob::MgcNoiseRemovalFilter>(); auto mgc_filter = std::make_shared<ob::MgcNoiseRemovalFilter>();
mgc_filter->enable(request->filter_enable); mgc_filter->enable(request->filter_enable);
depth_filter_list_.push_back(mgc_filter); depth_filter_list_.push_back(mgc_filter);
} else if (request->filter_name == "LutNoiseRemovalFilter") { } else if (request->filter_name == "LutNoiseRemovalFilter") {
if (!isOpenNIUvcMgcLutSupportedDevice(pid_)) {
response->success = false;
response->message =
"LutNoiseRemovalFilter only supports OpenNI UVC devices: "
"0x065b/0x0698/0x06a0/0x069e";
return;
}
auto lut_filter = std::make_shared<ob::LutNoiseRemovalFilter>(); auto lut_filter = std::make_shared<ob::LutNoiseRemovalFilter>();
lut_filter->enable(request->filter_enable); lut_filter->enable(request->filter_enable);
depth_filter_list_.push_back(lut_filter); depth_filter_list_.push_back(lut_filter);