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feat: expose EdgeNoiseRemovalFilter control

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This commit is contained in:
ob-yalian
2026-06-25 16:15:42 +08:00
parent d8f62bf137
commit c2aa606cdd
2 changed files with 13 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
View File
@@ -871,6 +871,7 @@ class OBCameraNode {
bool enable_spatial_filter_ = true;
bool enable_temporal_filter_ = false;
bool enable_hole_filling_filter_ = false;
bool enable_edge_noise_removal_filter_ = false;
bool enable_spatial_fast_filter_ = false;
bool enable_spatial_moderate_filter_ = false;
bool enable_false_positive_filter_ = false;
orbbec_camera/src/ob_camera_node.cpp
+12
View File
@@ -420,6 +420,7 @@ void OBCameraNode::publishDepthFiltersStatus() {
sync_filter_enabled("SpatialAdvancedFilter", enable_spatial_filter_);
sync_filter_enabled("TemporalFilter", enable_temporal_filter_);
sync_filter_enabled("HoleFillingFilter", enable_hole_filling_filter_);
sync_filter_enabled("EdgeNoiseRemovalFilter", enable_edge_noise_removal_filter_);
sync_filter_enabled("DisparityTransform", enable_disparity_to_depth_);
sync_filter_enabled("ThresholdFilter", enable_threshold_filter_);
sync_filter_enabled("SpatialFastFilter", enable_spatial_fast_filter_);
@@ -2653,6 +2654,8 @@ void OBCameraNode::syncConfigJsonFilterSettings(
} catch (const std::exception &) {
}
}
sync_filter_enabled(filters, "EdgeNoiseRemovalFilter", "enable_edge_noise_removal_filter",
enable_edge_noise_removal_filter_);
if (auto filter =
sync_filter_enabled(filters, "FalsePositiveFilter", "enable_false_positive_filter",
enable_false_positive_filter_)) {
@@ -3098,6 +3101,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
{"SpatialAdvancedFilter", enable_spatial_filter_},
{"TemporalFilter", enable_temporal_filter_},
{"HoleFillingFilter", enable_hole_filling_filter_},
{"EdgeNoiseRemovalFilter", enable_edge_noise_removal_filter_},
{"DisparityTransform", enable_disparity_to_depth_},
{"ThresholdFilter", enable_threshold_filter_},
{"SpatialFastFilter", enable_spatial_fast_filter_},
@@ -3113,6 +3117,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
{"SpatialAdvancedFilter", "enable_spatial_filter"},
{"TemporalFilter", "enable_temporal_filter"},
{"HoleFillingFilter", "enable_hole_filling_filter"},
{"EdgeNoiseRemovalFilter", "enable_edge_noise_removal_filter"},
{"DisparityTransform", "enable_disparity_to_depth"},
{"ThresholdFilter", "enable_threshold_filter"},
{"SpatialFastFilter", "enable_spatial_fast_filter"},
@@ -4121,6 +4126,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_spatial_filter_, "enable_spatial_filter", false);
setAndGetNodeParameter<bool>(enable_temporal_filter_, "enable_temporal_filter", false);
setAndGetNodeParameter<bool>(enable_hole_filling_filter_, "enable_hole_filling_filter", false);
setAndGetNodeParameter<bool>(enable_edge_noise_removal_filter_,
"enable_edge_noise_removal_filter", false);
setAndGetNodeParameter<bool>(enable_spatial_fast_filter_, "enable_spatial_fast_filter", false);
setAndGetNodeParameter<bool>(enable_spatial_moderate_filter_, "enable_spatial_moderate_filter",
false);
@@ -6576,6 +6583,8 @@ void OBCameraNode::updateDepthFilterEnabledCache(const std::string &filter_name,
enable_temporal_filter_ = enabled;
} else if (normalized_filter_name == "HoleFillingFilter") {
enable_hole_filling_filter_ = enabled;
} else if (normalized_filter_name == "EdgeNoiseRemovalFilter") {
enable_edge_noise_removal_filter_ = enabled;
} else if (normalized_filter_name == "SpatialFastFilter") {
enable_spatial_fast_filter_ = enabled;
} else if (normalized_filter_name == "SpatialModerateFilter") {
@@ -7163,6 +7172,9 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
auto lut_filter = existing_filter->as<ob::LutNoiseRemovalFilter>();
lut_filter->enable(request->filter_enable);
enable_lut_noise_removal_filter_ = request->filter_enable;
} else if (normalized_request_filter_name == "EdgeNoiseRemovalFilter") {
existing_filter->enable(request->filter_enable);
enable_edge_noise_removal_filter_ = request->filter_enable;
} else {
fail(normalized_request_filter_name + " cannot be set");
return;