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feat: update disp_outliers_filter_search_mode handling and default value

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This commit is contained in:
ob-yalian
2026-06-25 17:13:16 +08:00
parent 4fb64e07f5
commit 9da7c7fc69
5 changed files with 53 additions and 34 deletions
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orbbec_camera/src/ob_camera_node.cpp
+52 -30
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@@ -193,6 +193,40 @@ bool equalsIgnoreCase(std::string lhs, std::string rhs) {
return lhs == rhs;
}
std::string dispOutliersSearchModeToString(int search_mode) {
switch (search_mode) {
case 0:
return "FULL";
case 1:
return "OFFSET_80";
default:
return "";
}
}
bool parseDispOutliersSearchMode(const std::string &raw_value, int &search_mode,
std::string &message, bool allow_sdk_default = false) {
const auto value = trimFilterConfigValue(raw_value);
const auto lower_value = lowerFilterConfigValue(value);
if (allow_sdk_default && lower_value.empty()) {
search_mode = -1;
return true;
}
if (lower_value == "full") {
search_mode = 0;
return true;
}
if (lower_value == "offset_80") {
search_mode = 1;
return true;
}
message = allow_sdk_default
? "Filter config 'search_mode' expects one of FULL, OFFSET_80, or empty"
: "Filter config 'search_mode' expects one of FULL, OFFSET_80";
return false;
}
std::string lowerParameterValue(std::string value) {
std::transform(value.begin(), value.end(), value.begin(),
[](unsigned char c) { return static_cast<char>(std::tolower(c)); });
@@ -337,7 +371,7 @@ DepthFilterState OBCameraNode::buildDepthFilterState(
to_param_value(hardware_noise_removal_filter_threshold_));
} else if (normalized_filter_name == "DispOutliersFilter") {
appendDepthFilterParam(filter_state, "search_mode",
to_param_value(disp_outliers_filter_search_mode_));
dispOutliersSearchModeToString(disp_outliers_filter_search_mode_));
}
if (filter_state.params.empty() && filter &&
@@ -4136,8 +4170,18 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_lut_noise_removal_filter_, "enable_lut_noise_removal_filter",
false);
setAndGetNodeParameter<bool>(enable_disp_outliers_filter_, "enable_disp_outliers_filter", false);
setAndGetNodeParameter<int>(disp_outliers_filter_search_mode_, "disp_outliers_filter_search_mode",
-1);
std::string disp_outliers_filter_search_mode;
setAndGetNodeParameter<std::string>(disp_outliers_filter_search_mode,
"disp_outliers_filter_search_mode", "");
std::string disp_outliers_filter_search_mode_message;
if (!parseDispOutliersSearchMode(disp_outliers_filter_search_mode,
disp_outliers_filter_search_mode_,
disp_outliers_filter_search_mode_message, true)) {
RCLCPP_WARN_STREAM(logger_, "Invalid disp_outliers_filter_search_mode value "
<< disp_outliers_filter_search_mode << ". "
<< disp_outliers_filter_search_mode_message << "; using empty");
disp_outliers_filter_search_mode_ = -1;
}
setAndGetNodeParameter<int>(decimation_filter_scale_, "decimation_filter_scale", -1);
setAndGetNodeParameter<int>(sequence_id_filter_id_, "sequence_id_filter_id", -1);
setAndGetNodeParameter<int>(threshold_filter_max_, "threshold_filter_max", -1);
@@ -6761,16 +6805,10 @@ bool OBCameraNode::applyNamedDepthFilterConfig(
return false;
}
double parsed_value = 0.0;
if (!parseFilterConfigDouble(param.value, parsed_value, message)) {
return false;
}
if (std::floor(parsed_value) != parsed_value) {
message = "Filter config 'search_mode' expects an integer value";
if (!parseDispOutliersSearchMode(param.value, search_mode, message)) {
return false;
}
has_search_mode = true;
search_mode = static_cast<int>(parsed_value);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_OUTLIERS_FILTER_BOOL,
@@ -6888,6 +6926,10 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
fail("filter_param and filter_config cannot be used at the same time");
return;
}
if (is_disp_outliers_filter && has_positional_params) {
fail("DispOutliersFilter search_mode expects filter_config value FULL or OFFSET_80");
return;
}
if (has_named_params || !has_positional_params) {
std::string message;
@@ -6958,26 +7000,6 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
}
}
enable_hardware_noise_removal_filter_ = request->filter_enable;
} else if (is_disp_outliers_filter) {
if (device_->isPropertySupported(OB_PROP_DEPTH_OUTLIERS_FILTER_BOOL,
OB_PERMISSION_READ_WRITE)) {
device_->setBoolProperty(OB_PROP_DEPTH_OUTLIERS_FILTER_BOOL, request->filter_enable);
RCLCPP_INFO_STREAM(logger_, "Set DispOutliersFilter:" << request->filter_enable);
}
if (!request->filter_param.empty()) {
if (device_->isPropertySupported(OB_PROP_DEPTH_OUTLIERS_FILTER_SEARCH_MODE_INT,
OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_DEPTH_OUTLIERS_FILTER_SEARCH_MODE_INT,
request->filter_param[0]);
disp_outliers_filter_search_mode_ = request->filter_param[0];
RCLCPP_INFO_STREAM(logger_,
"Set DispOutliersFilter search_mode:" << request->filter_param[0]);
} else {
fail("Filter config 'search_mode' is not supported by this device");
return;
}
}
enable_disp_outliers_filter_ = request->filter_enable;
}
} else {
std::unique_lock<std::mutex> depth_filter_lock(depth_filter_mutex_);