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Add color decimation filter in gemini2.launch.py and gemini2L.launch.py

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This commit is contained in:
jj
2025-06-06 16:37:05 +08:00
parent b47501658b
commit 928e96f672
3 changed files with 31 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+27 -5
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@@ -199,7 +199,7 @@ void OBCameraNode::setupDevices() {
"Laser energy level set to " << new_laser_energy_level << " (new value)");
}
}
if (depth_registration_) {
if (depth_registration_ && align_mode_ == "SW") {
RCLCPP_INFO_STREAM(logger_, "Create align filter");
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
@@ -738,10 +738,10 @@ void OBCameraNode::setupDevices() {
void OBCameraNode::setupColorPostProcessFilter() {
auto color_sensor = device_->getSensor(OB_SENSOR_COLOR);
color_filter_list_ = color_sensor->createRecommendedFilters();
if (color_filter_list_.empty()) {
RCLCPP_WARN_STREAM(logger_, "Failed to get color sensor filter list");
return;
}
if (color_filter_list_.empty()) {
RCLCPP_WARN_STREAM(logger_, "Failed to get color sensor filter list");
// return;
}
for (size_t i = 0; i < color_filter_list_.size(); i++) {
auto filter = color_filter_list_[i];
std::map<std::string, bool> filter_params = {
@@ -770,6 +770,28 @@ void OBCameraNode::setupColorPostProcessFilter() {
}
}
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
auto pid = device_info->getPid();
if (pid == GEMINI2_PID || pid == GEMINI2L_PID) {
if (enable_color_decimation_filter_) {
auto decimation_filter = std::make_shared<ob::DecimationFilter>();
decimation_filter->enable(true);
color_filter_list_.push_back(decimation_filter);
auto range = decimation_filter->getScaleRange();
if (color_decimation_filter_scale_ != -1 && color_decimation_filter_scale_ <= range.max &&
color_decimation_filter_scale_ >= range.min) {
RCLCPP_INFO_STREAM(logger_, "Set color decimation filter scale value to "
<< color_decimation_filter_scale_);
decimation_filter->setScaleValue(color_decimation_filter_scale_);
}
if (color_decimation_filter_scale_ != -1 && (color_decimation_filter_scale_ < range.min ||
color_decimation_filter_scale_ > range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Color Decimation filter scale value is out of range "
<< range.min << " - " << range.max);
}
}
}
}
void OBCameraNode::setupLeftIrPostProcessFilter() {
auto device_info = device_->getDeviceInfo();