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feat: add support for undistortion parameters and filters in camera configuration

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This commit is contained in:
ob-yalian
2026-06-02 16:10:04 +08:00
parent b9c3bfd627
commit adf13e8cd7
15 changed files with 266 additions and 64 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+4
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@@ -134,6 +134,10 @@ const int32_t GEMINI_336LE_PID = 0x0810; // Gemini 335Le
const int32_t CUSTOM_ADVANTECH_GEMINI_336_PID = 0x0816; // Custom Advantech Gemini 336
const int32_t CUSTOM_ADVANTECH_GEMINI_336L_PID = 0x0817; // Custom Advantech Gemini 336L
const int32_t DABAI_MAX_PID = 0x069a; // dabai max
const int32_t DABAI_A_PID = 0x0A12; // DaBai A
const int32_t DABAI_AL_PID = 0x0A13; // DaBai AL
const int32_t GEMINI_345_PID = 0x0812; // Gemini 345
const int32_t GEMINI_345LG_PID = 0x0813; // Gemini 345Lg
const int32_t GEMINI_338_PID = 0x0818; // Gemini 338
const int32_t GEMINI_435Le_PID = 0x815; // Gemini 435Le
const int32_t GEMINI_305_PID = 0x0840; // Gemini 305
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+13 -4
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@@ -479,6 +479,8 @@ class OBCameraNode {
std::shared_ptr<ob::Frame> processLeftIrFrameFilter(std::shared_ptr<ob::Frame>& frame);
std::shared_ptr<ob::Frame> processIrFrameFilter(std::shared_ptr<ob::Frame>& frame);
uint64_t getFrameTimestampUs(const std::shared_ptr<ob::Frame>& frame);
void onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set);
@@ -538,14 +540,21 @@ class OBCameraNode {
static bool isGemini435LePID(uint32_t pid);
static bool isPublishMetaData(uint32_t pid);
static bool isDabaiASeriesForHwD2C(uint32_t pid);
static bool isDepthWorkModeDevices(uint32_t pid);
static bool isnotLaserDevices(uint32_t pid);
void setupDepthPostProcessFilter();
void setupColorPostProcessFilter();
void setupIrPostProcessFilter();
void setupRightIrPostProcessFilter();
void setupLeftIrPostProcessFilter();
void setupUndistortionFilters();
bool shouldUseHwD2CColorUndistortion() const;
void configureHwD2CColorUndistortion(const std::shared_ptr<ob::Frame>& depth_frame);
void applyHwD2CColorUndistortion(std::shared_ptr<ob::FrameSet>& frame_set,
const std::shared_ptr<ob::Frame>& depth_frame);
// interleave AE
int init_interleave_hdr_param();
@@ -919,10 +928,9 @@ class OBCameraNode {
std::chrono::milliseconds software_trigger_period_{33};
bool enable_heartbeat_ = false;
bool enable_firmware_log_ = false;
bool enable_color_undistortion_ = false;
std::shared_ptr<image_publisher> color_undistortion_publisher_;
rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr
color_undistortion_camera_info_publisher_;
std::map<stream_index_pair, bool> enable_undistortion_;
std::shared_ptr<ob::UnDistortionFilter> hw_d2c_color_undistortion_filter_;
bool hw_d2c_color_undistortion_configured_ = false;
bool has_first_color_frame_ = false;
bool use_intra_process_ = false;
std::string cloud_frame_id_;
@@ -931,6 +939,7 @@ class OBCameraNode {
std::vector<std::shared_ptr<ob::Filter>> color_filter_list_;
std::vector<std::shared_ptr<ob::Filter>> left_color_filter_list_;
std::vector<std::shared_ptr<ob::Filter>> right_color_filter_list_;
std::vector<std::shared_ptr<ob::Filter>> ir_filter_list_;
std::vector<std::shared_ptr<ob::Filter>> left_ir_filter_list_;
std::vector<std::shared_ptr<ob::Filter>> right_ir_filter_list_;