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add filter params

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This commit is contained in:
Joe Dong
2024-04-07 15:30:59 +08:00
parent 9a1c6cdec6
commit 9b6b90d9cb
5 changed files with 169 additions and 16 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+29
View File
@@ -62,6 +62,7 @@
#include "orbbec_camera/d2c_viewer.h"
#include "magic_enum/magic_enum.hpp"
#include "jpeg_decoder.h"
#include <std_msgs/msg/string.hpp>
#define STREAM_NAME(sip) \
(static_cast<std::ostringstream&&>(std::ostringstream() \
@@ -469,5 +470,33 @@ class OBCameraNode {
bool ordered_pc_ = false;
bool use_hardware_time_ = true;
bool enable_depth_scale_ = true;
std::shared_ptr<ob::Frame> depth_frame_ = nullptr;
std::string device_preset_ = "Default";
// filter switch
bool enable_decimation_filter_ = false;
bool enable_hdr_merge_ = false;
bool enable_sequence_id_filter_ = false;
bool enable_threshold_filter_ = false;
bool enable_noise_removal_filter_ = true;
bool enable_spatial_filter_ = true;
bool enable_temporal_filter_ = false;
bool enable_hole_filling_filter_ = false;
// filter params
int decimation_filter_scale_range_ = 2;
int sequence_id_filter_id_ = 1;
int threshold_filter_max_ = 16000;
int threshold_filter_min_ = 0;
int noise_removal_filter_min_diff_ = 8;
int noise_removal_filter_max_size_ = 80;
float spatial_filter_alpha_ = 0.5;
int spatial_filter_diff_threshold_ = 8;
int spatial_filter_magnitude_ = 1;
int spatial_filter_radius_ = 1;
float temporal_filter_diff_threshold_ = 0.1;
float temporal_filter_weight_ = 0.4;
std::string hole_filling_filter_mode_ = "FILL_TOP";
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr filter_status_pub_;
nlohmann::json filter_status_;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/utils.h
+19 -16
View File
@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
#include <ostream>
@@ -34,7 +34,8 @@ sensor_msgs::msg::CameraInfo convertToCameraInfo(OBCameraIntrinsic intrinsic,
void saveRGBPointsToPly(const std::shared_ptr<ob::Frame>& frame, const std::string& fileName);
void saveRGBPointCloudMsgToPly(const sensor_msgs::msg::PointCloud2& msg, const std::string& fileName);
void saveRGBPointCloudMsgToPly(const sensor_msgs::msg::PointCloud2& msg,
const std::string& fileName);
void saveDepthPointsToPly(const sensor_msgs::msg::PointCloud2& msg, const std::string& fileName);
@@ -82,6 +83,8 @@ std::string parseUsbPort(const std::string& line);
bool isValidJPEG(const std::shared_ptr<ob::ColorFrame>& frame);
std::string metaDataTypeToString(const OBFrameMetadataType &meta_data_type);
std::string metaDataTypeToString(const OBFrameMetadataType& meta_data_type);
OBHoleFillingMode holeFillingModeFromString(const std::string& hole_filling_mode);
} // namespace orbbec_camera