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feat: add OpenNI UVC noise removal filters support in configuration and launch files

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This commit is contained in:
ob-yalian
2026-03-24 14:25:57 +08:00
parent 6344b2cfa0
commit a51cc2b4b8
5 changed files with 55 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+47 -1
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@@ -19,6 +19,7 @@
#include <thread>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <sstream>
#include <algorithm>
#include "orbbec_camera/utils.h"
#include <filesystem>
@@ -37,6 +38,18 @@
namespace orbbec_camera {
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,
std::shared_ptr<Parameters> parameters, bool use_intra_process)
: node_(node),
@@ -1218,6 +1231,10 @@ void OBCameraNode::setupDepthPostProcessFilter() {
}
for (size_t i = 0; i < depth_filter_list_.size(); 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_},
@@ -1230,6 +1247,8 @@ void OBCameraNode::setupDepthPostProcessFilter() {
{"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();
RCLCPP_INFO_STREAM(logger_, "Setting " << filter_name << "......");
@@ -2160,6 +2179,10 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_spatial_fast_filter_, "enable_spatial_fast_filter", false);
setAndGetNodeParameter<bool>(enable_spatial_moderate_filter_, "enable_spatial_moderate_filter",
false);
setAndGetNodeParameter<bool>(enable_mgc_noise_removal_filter_, "enable_mgc_noise_removal_filter",
false);
setAndGetNodeParameter<bool>(enable_lut_noise_removal_filter_, "enable_lut_noise_removal_filter",
false);
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);
@@ -4661,6 +4684,28 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
auto false_positive_filter = std::make_shared<ob::FalsePositiveFilter>();
false_positive_filter->enable(request->filter_enable);
depth_filter_list_.push_back(false_positive_filter);
} 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>();
mgc_filter->enable(request->filter_enable);
depth_filter_list_.push_back(mgc_filter);
} 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>();
lut_filter->enable(request->filter_enable);
depth_filter_list_.push_back(lut_filter);
} else {
RCLCPP_INFO_STREAM(logger_,
request->filter_name
@@ -4669,7 +4714,8 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
"DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, "
"NoiseRemovalFilter, HardwareNoiseRemoval, SpatialAdvancedFilter, "
"SpatialFastFilter, SpatialModerateFilter, FalsePositiveFilter and "
"TemporalFilter");
"TemporalFilter, MgcNoiseRemovalFilter and "
"LutNoiseRemovalFilter");
return;
}
for (auto &filter : depth_filter_list_) {