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feat: enable false positive filter by default in launch files

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This commit is contained in:
ob-yalian
2026-06-03 17:11:29 +08:00
parent 97f6d54798
commit b3752505dd
3 changed files with 38 additions and 40 deletions
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orbbec_camera/launch/gemini345.launch.py
+2 -2
View File
@@ -178,7 +178,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='true'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -201,7 +201,7 @@ def generate_launch_description():
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Standard'),
DeclareLaunchArgument('device_preset', default_value=''),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
orbbec_camera/launch/gemini345_lg.launch.py
+2 -2
View File
@@ -179,7 +179,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
DeclareLaunchArgument('enable_false_positive_filter', default_value='true'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
@@ -203,7 +203,7 @@ def generate_launch_description():
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Standard'),
DeclareLaunchArgument('device_preset', default_value=''),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
orbbec_camera/src/ob_camera_node.cpp
+34 -36
View File
@@ -967,6 +967,7 @@ void OBCameraNode::setupDevices() {
sync_config.framesPerTrigger = frames_per_trigger_;
TRY_EXECUTE_BLOCK(device_->setMultiDeviceSyncConfig(sync_config));
sync_config = device_->getMultiDeviceSyncConfig();
RCLCPP_INFO_STREAM(logger_, "Current device preset: " << device_->getCurrentPresetName());
RCLCPP_INFO_STREAM(logger_,
"Current sync mode: " << magic_enum::enum_name(sync_config.syncMode));
if (sync_mode_ == OB_MULTI_DEVICE_SYNC_MODE_SOFTWARE_TRIGGERING) {
@@ -1676,9 +1677,8 @@ void OBCameraNode::loadConfigJson() {
<< orbbec_camera::formatObErrorWithStatus(e) << "\"");
} catch (const std::exception &e) {
config_json_loaded_ = false;
RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << resolved_file_path_str
<< " error=\"" << e.what()
<< "\"");
RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file="
<< resolved_file_path_str << " error=\"" << e.what() << "\"");
} catch (...) {
config_json_loaded_ = false;
RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << resolved_file_path_str);
@@ -1713,12 +1713,11 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
return device_->isPropertySupported(property_id, OB_PERMISSION_WRITE) ||
device_->isPropertySupported(property_id, OB_PERMISSION_READ_WRITE);
};
auto log_readback = [this](const std::string &scope, const std::string &name,
const auto &value) {
auto log_readback = [this](const std::string &scope, const std::string &name, const auto &value) {
std::ostringstream ss;
ss << std::boolalpha << value;
RCLCPP_INFO_STREAM(logger_, "Config final readback [" << scope << "] " << name << "="
<< ss.str());
RCLCPP_INFO_STREAM(logger_,
"Config final readback [" << scope << "] " << name << "=" << ss.str());
};
auto log_readback_fields = [this](const std::string &scope, const std::string &fields) {
RCLCPP_INFO_STREAM(logger_, "Config final readback [" << scope << "] " << fields);
@@ -1805,8 +1804,8 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
device_preset_ = device_->getCurrentPresetName();
log_readback("depth", "device_preset", device_preset_);
} catch (const std::exception &e) {
RCLCPP_DEBUG_STREAM(logger_, "Config final readback failed [depth] device_preset error=\""
<< e.what() << "\"");
RCLCPP_DEBUG_STREAM(
logger_, "Config final readback failed [depth] device_preset error=\"" << e.what() << "\"");
}
if (can_read(OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT)) {
@@ -1834,7 +1833,8 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
sync_int("depth", "ir_gain", ir_gain_, OB_PROP_IR_GAIN_INT);
if (can_read(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT)) {
try {
const auto depth_unit = device_->getFloatProperty(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT);
const auto depth_unit =
device_->getFloatProperty(OB_PROP_DEPTH_UNIT_FLEXIBLE_ADJUSTMENT_FLOAT);
depth_precision_str_ = std::to_string(depth_unit) + "mm";
log_readback("depth", "depth_unit", depth_unit);
log_readback("depth", "depth_precision", depth_precision_str_);
@@ -1930,7 +1930,7 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
fields.str());
} catch (const std::exception &e) {
RCLCPP_DEBUG_STREAM(logger_, "Config final readback failed [depth.interleave.params."
<< config_index << "] error=\"" << e.what() << "\"");
<< config_index << "] error=\"" << e.what() << "\"");
}
};
@@ -1955,8 +1955,8 @@ void OBCameraNode::syncConfigJsonDeviceSettings() {
device_->setIntProperty(OB_PROP_FRAME_INTERLEAVE_CONFIG_INDEX_INT,
original_interleave_index);
} catch (const std::exception &e) {
RCLCPP_DEBUG_STREAM(logger_, "Failed to restore frame_interleave.config_index: "
<< e.what());
RCLCPP_DEBUG_STREAM(logger_,
"Failed to restore frame_interleave.config_index: " << e.what());
}
}
}
@@ -2075,12 +2075,11 @@ void OBCameraNode::syncConfigJsonFilterSettings(
auto filter_scope = [&](const std::string &filter_name) {
return "filter." + sensor_name + "." + normalizeDepthFilterName(filter_name);
};
auto log_readback = [this](const std::string &scope, const std::string &name,
const auto &value) {
auto log_readback = [this](const std::string &scope, const std::string &name, const auto &value) {
std::ostringstream ss;
ss << std::boolalpha << value;
RCLCPP_INFO_STREAM(logger_, "Config final readback [" << scope << "] " << name << "="
<< ss.str());
RCLCPP_INFO_STREAM(logger_,
"Config final readback [" << scope << "] " << name << "=" << ss.str());
};
auto log_readback_fields = [this](const std::string &scope, const std::string &fields) {
RCLCPP_INFO_STREAM(logger_, "Config final readback [" << scope << "] " << fields);
@@ -2390,7 +2389,8 @@ void OBCameraNode::setupColorPostProcessFilter() {
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (pid_ == GEMINI2_PID || pid_ == GEMINI2L_PID) {
if (isLaunchParamProvided("enable_color_decimation_filter") && enable_color_decimation_filter_) {
if (isLaunchParamProvided("enable_color_decimation_filter") &&
enable_color_decimation_filter_) {
auto decimation_filter = std::make_shared<ob::DecimationFilter>();
decimation_filter->enable(true);
color_filter_list_.push_back(decimation_filter);
@@ -2418,8 +2418,8 @@ void OBCameraNode::setupIrPostProcessFilter() {
RCLCPP_WARN_STREAM(logger_, "Failed to get ir sensor filter list");
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to setup ir filters: "
<< orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_WARN_STREAM(logger_,
"Failed to setup ir filters: " << orbbec_camera::formatObErrorWithStatus(e));
}
}
@@ -2427,8 +2427,8 @@ void OBCameraNode::setupUndistortionFilters() {
auto remove_undistortion_filter = [](std::vector<std::shared_ptr<ob::Filter>> &filters) {
filters.erase(std::remove_if(filters.begin(), filters.end(),
[](const std::shared_ptr<ob::Filter> &filter) {
return filter && std::string(filter->type()) ==
"UnDistortionFilter";
return filter &&
std::string(filter->type()) == "UnDistortionFilter";
}),
filters.end());
};
@@ -2461,8 +2461,7 @@ void OBCameraNode::setupUndistortionFilters() {
}
if (stream_index == COLOR && shouldUseHwD2CColorUndistortion()) {
remove_undistortion_filter(filters);
hw_d2c_color_undistortion_filter_ =
std::make_shared<ob::UnDistortionFilter>(OB_STREAM_COLOR);
hw_d2c_color_undistortion_filter_ = std::make_shared<ob::UnDistortionFilter>(OB_STREAM_COLOR);
hw_d2c_color_undistortion_filter_->enable(true);
RCLCPP_INFO_STREAM(logger_,
"Enable color undistortion with HW D2C depth intrinsic projection");
@@ -2513,8 +2512,7 @@ void OBCameraNode::configureHwD2CColorUndistortion(const std::shared_ptr<ob::Fra
}
hw_d2c_color_undistortion_filter_->setNewCameraMatrix(video_profile->getIntrinsic());
hw_d2c_color_undistortion_configured_ = true;
RCLCPP_INFO_STREAM(logger_,
"Configured HW D2C color undistortion with depth camera intrinsic");
RCLCPP_INFO_STREAM(logger_, "Configured HW D2C color undistortion with depth camera intrinsic");
}
void OBCameraNode::applyHwD2CColorUndistortion(std::shared_ptr<ob::FrameSet> &frame_set,
@@ -2920,9 +2918,9 @@ void OBCameraNode::setupProfiles() {
}
} catch (const ob::Error &ex) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to get " << stream_name_[elem]
<< " profile: " << orbbec_camera::formatObErrorWithStatus(ex));
RCLCPP_ERROR_STREAM(logger_, "Failed to get "
<< stream_name_[elem] << " profile: "
<< orbbec_camera::formatObErrorWithStatus(ex));
RCLCPP_ERROR_STREAM(
logger_, "Stream: " << magic_enum::enum_name(elem.first)
<< ", Stream Index: " << elem.second << ", Width: " << width_[elem]
@@ -4073,8 +4071,7 @@ void OBCameraNode::setupPublishers() {
image_publishers_[stream_index] =
std::make_shared<image_transport_publisher>(*node_, topic, image_qos_profile);
}
if ((is_mjpg_color_stream) &&
format_[stream_index] == OB_FORMAT_MJPG) {
if ((is_mjpg_color_stream) && format_[stream_index] == OB_FORMAT_MJPG) {
compressed_image_publishers_[stream_index] =
node_->create_publisher<sensor_msgs::msg::CompressedImage>(
topic + "/compressed",
@@ -5196,8 +5193,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
const bool has_raw_image_subscriber =
image_publishers_[stream_index]->get_subscription_count() > 0;
const bool has_compressed_image_subscriber = hasCompressedImageSubscriber(stream_index);
bool has_subscriber = has_raw_image_subscriber || has_compressed_image_subscriber ||
save_images_[stream_index];
bool has_subscriber =
has_raw_image_subscriber || has_compressed_image_subscriber || save_images_[stream_index];
has_subscriber =
has_subscriber || camera_info_publishers_[stream_index]->get_subscription_count() > 0;
has_subscriber =
@@ -5324,7 +5321,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
if (image.empty() || image.cols != width || image.rows != height) {
image.create(height, width, image_format_[stream_index]);
}
if (isColorFrameDecodeRequired(frame) && (has_raw_image_subscriber || save_images_[stream_index])) {
if (isColorFrameDecodeRequired(frame) &&
(has_raw_image_subscriber || save_images_[stream_index])) {
if (frame->getType() == OB_FRAME_COLOR && !is_color_frame_decoded_) {
RCLCPP_ERROR(logger_, "color frame is not decoded");
return;
@@ -6274,8 +6272,8 @@ bool OBCameraNode::applyNamedDepthFilterConfig(
existing_filter->enable(enabled);
for (const auto &parsed_param : parsed_params) {
existing_filter->setConfigValue(parsed_param.first, parsed_param.second);
RCLCPP_INFO_STREAM(logger_, "Set " << normalized_filter_name << " config "
<< parsed_param.first << " to " << parsed_param.second);
RCLCPP_INFO_STREAM(logger_, "Set " << normalized_filter_name << " config " << parsed_param.first
<< " to " << parsed_param.second);
}
updateDepthFilterEnabledCache(normalized_filter_name, enabled);
return true;