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feat: publish property-based depth filter states

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ob-yalian
2026-04-13 14:05:20 +08:00
parent 38d9dc7e4b
commit c5c5787e56
1 changed files with 29 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+29 -6
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@@ -257,22 +257,45 @@ void OBCameraNode::publishDepthFiltersStatus() {
msg.header.stamp = node_->now();
msg.header.frame_id = camera_name_;
const bool noise_removal_filter_supported =
device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE) ||
device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE) ||
device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE);
const bool hardware_noise_removal_filter_supported =
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
OB_PERMISSION_READ_WRITE) ||
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
OB_PERMISSION_READ_WRITE);
std::vector<std::string> ordered_filter_names;
ordered_filter_names.reserve(depth_filter_list_.size());
ordered_filter_names.reserve(depth_filter_list_.size() + 2);
auto append_unique_filter_name = [&ordered_filter_names](const std::string &filter_name) {
if (std::find(ordered_filter_names.begin(), ordered_filter_names.end(), filter_name) ==
ordered_filter_names.end()) {
ordered_filter_names.push_back(filter_name);
}
};
for (const auto &filter : depth_filter_list_) {
if (!filter) {
continue;
}
const auto normalized_name = normalizeDepthFilterName(filter->type());
if (std::find(ordered_filter_names.begin(), ordered_filter_names.end(), normalized_name) ==
ordered_filter_names.end()) {
ordered_filter_names.push_back(normalized_name);
}
append_unique_filter_name(normalizeDepthFilterName(filter->type()));
}
if (noise_removal_filter_supported) {
append_unique_filter_name("NoiseRemovalFilter");
}
if (hardware_noise_removal_filter_supported) {
append_unique_filter_name("HardwareNoiseRemovalFilter");
}
msg.filters.reserve(ordered_filter_names.size());
for (const auto &filter_name : ordered_filter_names) {
bool enabled = false;
if (filter_name == "NoiseRemovalFilter") {
enabled = enable_noise_removal_filter_;
} else if (filter_name == "HardwareNoiseRemovalFilter") {
enabled = enable_hardware_noise_removal_filter_;
}
if (auto filter = find_depth_filter(filter_name)) {
try {
enabled = filter->isEnabled();