From cfc7e8dbbaa9c3c800f3258db90b157832175513 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Tue, 25 Aug 2026 13:52:26 +0800 Subject: [PATCH] refactor: narrow depth constant scope --- orbbec_camera/src/ob_camera_node.cpp | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp index e2e1bd78..69bfd79a 100644 --- a/orbbec_camera/src/ob_camera_node.cpp +++ b/orbbec_camera/src/ob_camera_node.cpp @@ -65,13 +65,6 @@ std::string OBCameraNode::normalizeDepthFilterName(const std::string &filter_nam namespace { -constexpr char kEnhancedDepthSupportedTargetResolutions[] = "640x480/1280x720/1280x800"; -constexpr char kEnhancedDepthSupportedDepthFormats[] = "Y10/Y11/Y12/Y14/Y16/Z16"; -constexpr double kViewerColorizerGamma = 0.65; -constexpr uint16_t kViewerColorizerMaxDistanceMm = 10000; -constexpr uint16_t kViewerColorizerDefaultMinDistanceMm = 100; -constexpr uint16_t kViewerColorizerG305MinDistanceMm = 40; - std::string getDepthFilterStatusName(const std::string &filter_name) { if (filter_name == "SpatialAdvancedFilter") { return "SpatialFilter"; @@ -5153,6 +5146,9 @@ void OBCameraNode::setupPipelineConfig() { } bool OBCameraNode::validateEnhancedDepthFilterConfig(std::string &message) const { + constexpr char kEnhancedDepthSupportedTargetResolutions[] = "640x480/1280x720/1280x800"; + constexpr char kEnhancedDepthSupportedDepthFormats[] = "Y10/Y11/Y12/Y14/Y16/Z16"; + if (!enable_stream_.count(COLOR) || !enable_stream_.at(COLOR) || !enable_stream_.count(DEPTH) || !enable_stream_.at(DEPTH)) { message = "Enhanced depth filter requires color and depth streams"; @@ -5761,6 +5757,11 @@ cv::Mat OBCameraNode::colorizeDepthImage(const cv::Mat &depth_image, return {}; } + constexpr double kViewerColorizerGamma = 0.65; + constexpr uint16_t kViewerColorizerMaxDistanceMm = 10000; + constexpr uint16_t kViewerColorizerDefaultMinDistanceMm = 100; + constexpr uint16_t kViewerColorizerG305MinDistanceMm = 40; + cv::Mat depth_16u; depth_image.convertTo(depth_16u, CV_16UC1);