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feat: add decimation filter settings for left and right color streams

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This commit is contained in:
slz
2026-01-16 11:25:19 +08:00
committed by ob-yalian
parent e0fe4ee53e
commit ace4d93594
3 changed files with 81 additions and 17 deletions
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orbbec_camera/src/ob_camera_node.cpp
+70 -14
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@@ -1048,6 +1048,68 @@ void OBCameraNode::setupColorPostProcessFilter() {
}
}
}
for (size_t i = 0; i < left_color_filter_list_.size(); i++) {
auto filter = left_color_filter_list_[i];
std::map<std::string, bool> filter_params = {
{"DecimationFilter", enable_left_color_decimation_filter_},
};
std::string filter_name = filter->type();
RCLCPP_INFO_STREAM(logger_, "Setting left " << filter_name << "......");
if (filter_params.find(filter_name) != filter_params.end()) {
std::string value = filter_params[filter_name] ? "true" : "false";
RCLCPP_INFO_STREAM(logger_, "set left color " << filter_name << " to " << value);
filter->enable(filter_params[filter_name]);
}
if (filter_name == "DecimationFilter" && enable_left_color_decimation_filter_) {
auto decimation_filter = filter->as<ob::DecimationFilter>();
auto range = decimation_filter->getScaleRange();
if (left_color_decimation_filter_scale_ != -1 &&
left_color_decimation_filter_scale_ <= range.max &&
left_color_decimation_filter_scale_ >= range.min) {
RCLCPP_INFO_STREAM(logger_, "Set left color decimation filter scale value to "
<< left_color_decimation_filter_scale_);
decimation_filter->setScaleValue(left_color_decimation_filter_scale_);
}
if (left_color_decimation_filter_scale_ != -1 &&
(left_color_decimation_filter_scale_ < range.min ||
left_color_decimation_filter_scale_ > range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Left Color Decimation filter scale value is out of range "
<< range.min << " - " << range.max);
}
}
}
for (size_t i = 0; i < right_color_filter_list_.size(); i++) {
auto filter = right_color_filter_list_[i];
std::map<std::string, bool> filter_params = {
{"DecimationFilter", enable_right_color_decimation_filter_},
};
std::string filter_name = filter->type();
RCLCPP_INFO_STREAM(logger_, "Setting right " << filter_name << "......");
if (filter_params.find(filter_name) != filter_params.end()) {
std::string value = filter_params[filter_name] ? "true" : "false";
RCLCPP_INFO_STREAM(logger_, "set right color " << filter_name << " to " << value);
filter->enable(filter_params[filter_name]);
}
if (filter_name == "DecimationFilter" && enable_right_color_decimation_filter_) {
auto decimation_filter = filter->as<ob::DecimationFilter>();
auto range = decimation_filter->getScaleRange();
if (right_color_decimation_filter_scale_ != -1 &&
right_color_decimation_filter_scale_ <= range.max &&
right_color_decimation_filter_scale_ >= range.min) {
RCLCPP_INFO_STREAM(logger_, "Set right color decimation filter scale value to "
<< right_color_decimation_filter_scale_);
decimation_filter->setScaleValue(right_color_decimation_filter_scale_);
}
if (right_color_decimation_filter_scale_ != -1 &&
(right_color_decimation_filter_scale_ < range.min ||
right_color_decimation_filter_scale_ > range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Right Color Decimation filter scale value is out of range "
<< range.min << " - " << range.max);
}
}
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (pid_ == GEMINI2_PID || pid_ == GEMINI2L_PID) {
@@ -1069,20 +1131,6 @@ void OBCameraNode::setupColorPostProcessFilter() {
}
}
}
if (pid_ == GEMINI_305_PID) {
if (enable_color_decimation_filter_) {
if (!left_color_filter_list_.empty()) {
auto decimation_filter = std::make_shared<ob::DecimationFilter>();
decimation_filter->enable(true);
left_color_filter_list_.push_back(decimation_filter);
}
if (!right_color_filter_list_.empty()) {
auto decimation_filter = std::make_shared<ob::DecimationFilter>();
decimation_filter->enable(true);
right_color_filter_list_.push_back(decimation_filter);
}
}
}
}
void OBCameraNode::setupLeftIrPostProcessFilter() {
auto device_info = device_->getDeviceInfo();
@@ -2020,6 +2068,14 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_color_decimation_filter_, "enable_color_decimation_filter",
false);
setAndGetNodeParameter<int>(color_decimation_filter_scale_, "color_decimation_filter_scale", -1);
setAndGetNodeParameter<bool>(enable_left_color_decimation_filter_,
"enable_left_color_decimation_filter", false);
setAndGetNodeParameter<int>(left_color_decimation_filter_scale_,
"left_color_decimation_filter_scale", -1);
setAndGetNodeParameter<bool>(enable_right_color_decimation_filter_,
"enable_right_color_decimation_filter", false);
setAndGetNodeParameter<int>(right_color_decimation_filter_scale_,
"right_color_decimation_filter_scale", -1);
setAndGetNodeParameter<bool>(enable_depth_auto_exposure_priority_,
"enable_depth_auto_exposure_priority", false);
setAndGetNodeParameter<int>(depth_ae_roi_left_, "depth_ae_roi_left", -1);