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refactor: narrow depth constant scope

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This commit is contained in:
ob-yalian
2026-08-25 13:52:26 +08:00
parent e12897f8f6
commit cfc7e8dbba
1 changed files with 8 additions and 7 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8 -7
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@@ -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);