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feat: expose dynamic depth filter params in status

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This commit is contained in:
ob-yalian
2026-04-13 14:50:26 +08:00
parent f1ee63028e
commit 8ea74e9bf6
2 changed files with 38 additions and 5 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2 -1
View File
@@ -263,7 +263,8 @@ class OBCameraNode {
void publishDepthFiltersStatus();
DepthFilterState buildDepthFilterState(const std::string &filter_name, bool enabled) const;
DepthFilterState buildDepthFilterState(const std::string &filter_name, bool enabled,
const std::shared_ptr<ob::Filter> &filter) const;
static std::string normalizeDepthFilterName(const std::string &filter_name);
orbbec_camera/src/ob_camera_node.cpp
+36 -4
View File
@@ -53,8 +53,8 @@ void OBCameraNode::appendDepthFilterParam(DepthFilterState &filter_state, const
filter_state.params.push_back(param);
}
DepthFilterState OBCameraNode::buildDepthFilterState(const std::string &filter_name,
bool enabled) const {
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;
@@ -104,6 +104,37 @@ DepthFilterState OBCameraNode::buildDepthFilterState(const std::string &filter_n
appendDepthFilterParam(filter_state, "radius", to_param_value(spatial_moderate_filter_radius_));
}
if (filter_state.params.empty() && filter) {
auto format_filter_config_value = [](const OBFilterConfigSchemaItem &config_schema, double value) {
switch (config_schema.type) {
case OB_FILTER_CONFIG_VALUE_TYPE_INT: {
return std::to_string(static_cast<long long>(value));
}
case OB_FILTER_CONFIG_VALUE_TYPE_BOOLEAN:
return value != 0.0 ? std::string("true") : std::string("false");
case OB_FILTER_CONFIG_VALUE_TYPE_FLOAT:
default: {
std::ostringstream ss;
ss << value;
return ss.str();
}
}
};
try {
for (const auto &config_schema : filter->getConfigSchemaVec()) {
if (config_schema.name == nullptr || config_schema.name[0] == '\0') {
continue;
}
appendDepthFilterParam(filter_state, config_schema.name,
format_filter_config_value(
config_schema, filter->getConfigValue(config_schema.name)));
}
} catch (const std::exception &) {
// Keep the state without dynamic params if runtime querying fails.
}
}
return filter_state;
}
@@ -298,19 +329,20 @@ void OBCameraNode::publishDepthFiltersStatus() {
msg.filters.reserve(ordered_filter_names.size());
for (const auto &filter_name : ordered_filter_names) {
bool enabled = false;
auto filter = find_depth_filter(filter_name);
if (filter_name == "NoiseRemovalFilter") {
enabled = enable_noise_removal_filter_;
} else if (filter_name == "HardwareNoiseRemovalFilter") {
enabled = enable_hardware_noise_removal_filter_;
}
if (auto filter = find_depth_filter(filter_name)) {
if (filter) {
try {
enabled = filter->isEnabled();
} catch (const std::exception &) {
// Keep default value when runtime querying fails.
}
}
msg.filters.push_back(buildDepthFilterState(filter_name, enabled));
msg.filters.push_back(buildDepthFilterState(filter_name, enabled, filter));
}
depth_filters_status_pub_->publish(msg);
}