mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-07 05:27:45 +08:00
Update Orbbec SDK to version 2.4.10 and modify related configurations
- Updated the OrbbecSDKConfig-release.cmake files for both arm64 and x64 architectures to reference the new SDK version 2.4.10. - Replaced occurrences of 'depth_brightness' with 'mean_intensity_set_point' in launch files and the camera node header to improve clarity and consistency. - Added new spatial filtering options (SpatialFastFilter and SpatialModerateFilter) in the camera node implementation, including parameters for radius, magnitude, and difference threshold. - Updated the setupDevices and setupDepthPostProcessFilter methods to handle the new mean intensity setting and spatial filter parameters. - Modified launch files for various examples to reflect the new argument names and added new parameters for spatial filtering.
This commit is contained in:
yalian
@@ -573,15 +573,15 @@ void OBCameraNode::setupDevices() {
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TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_DEPTH_AUTO_EXPOSURE_PRIORITY_INT,
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set_enable_depth_auto_exposure_priority);
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}
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if (depth_brightness_ != -1 &&
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if (mean_intensity_set_point_ != -1 &&
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device_->isPropertySupported(OB_PROP_IR_BRIGHTNESS_INT, OB_PERMISSION_WRITE)) {
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auto range = device_->getIntPropertyRange(OB_PROP_IR_BRIGHTNESS_INT);
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if (depth_brightness_ < range.min || depth_brightness_ > range.max) {
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if (mean_intensity_set_point_ < range.min || mean_intensity_set_point_ > range.max) {
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RCLCPP_ERROR(logger_, "depth brightness value is out of range[%d,%d], please check the value",
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range.min, range.max);
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} else {
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RCLCPP_INFO_STREAM(logger_, "Setting depth brightness to " << depth_brightness_);
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TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, depth_brightness_);
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RCLCPP_INFO_STREAM(logger_, "Setting depth brightness to " << mean_intensity_set_point_);
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TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_IR_BRIGHTNESS_INT, mean_intensity_set_point_);
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}
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}
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// ir ae max
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@@ -898,6 +898,8 @@ void OBCameraNode::setupDepthPostProcessFilter() {
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{"HoleFillingFilter", enable_hole_filling_filter_},
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{"DisparityTransform", enable_disaparity_to_depth_},
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{"ThresholdFilter", enable_threshold_filter_},
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{"SpatialFastFilter", enable_spatial_fast_filter_},
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{"SpatialModerateFilter", enable_spatial_moderate_filter_},
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};
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std::string filter_name = filter->type();
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RCLCPP_INFO_STREAM(logger_, "Setting " << filter_name << "......");
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@@ -979,6 +981,29 @@ void OBCameraNode::setupDepthPostProcessFilter() {
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device_->setStructuredData(OB_STRUCT_DEPTH_HDR_CONFIG,
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reinterpret_cast<const uint8_t *>(&config), sizeof(config));
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}
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} else if (filter_name == "SpatialFastFilter" && enable_spatial_fast_filter_) {
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auto spatial_fast_filter = filter->as<ob::SpatialFastFilter>();
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OBSpatialFastFilterParams params{};
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if (spatial_fast_filter_radius_ != -1) {
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params.radius = spatial_fast_filter_radius_;
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RCLCPP_INFO_STREAM(logger_,
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"Set SpatialFastFilter radius to " << spatial_fast_filter_radius_);
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spatial_fast_filter->setFilterParams(params);
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}
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} else if (filter_name == "SpatialModerateFilter" && enable_spatial_moderate_filter_) {
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auto spatial_moderate_filter = filter->as<ob::SpatialModerateFilter>();
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OBSpatialModerateFilterParams params{};
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if (spatial_moderate_filter_diff_threshold_ != -1 &&
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spatial_moderate_filter_magnitude_ != -1 && spatial_moderate_filter_radius_ != -1) {
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params.magnitude = spatial_moderate_filter_magnitude_;
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params.radius = spatial_moderate_filter_radius_;
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params.disp_diff = spatial_moderate_filter_diff_threshold_;
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RCLCPP_INFO_STREAM(logger_, "Set SpatialModerateFilter params: "
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<< "magnitude=" << params.magnitude << ", radius="
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<< params.radius << ", disp_diff=" << params.disp_diff);
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spatial_moderate_filter->setFilterParams(params);
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}
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} else {
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RCLCPP_INFO_STREAM(logger_, "Skip setting filter: " << filter_name);
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}
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@@ -1648,7 +1673,7 @@ void OBCameraNode::getParameters() {
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setAndGetNodeParameter<int>(depth_ae_roi_top_, "depth_ae_roi_top", -1);
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setAndGetNodeParameter<int>(depth_ae_roi_right_, "depth_ae_roi_right", -1);
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setAndGetNodeParameter<int>(depth_ae_roi_bottom_, "depth_ae_roi_bottom", -1);
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setAndGetNodeParameter<int>(depth_brightness_, "depth_brightness", -1);
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setAndGetNodeParameter<int>(mean_intensity_set_point_, "mean_intensity_set_point", -1);
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setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "");
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setAndGetNodeParameter<bool>(enable_ir_auto_exposure_, "enable_ir_auto_exposure", true);
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setAndGetNodeParameter<int>(ir_exposure_, "ir_exposure", -1);
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@@ -1699,6 +1724,9 @@ void OBCameraNode::getParameters() {
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setAndGetNodeParameter<bool>(enable_spatial_filter_, "enable_spatial_filter", false);
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setAndGetNodeParameter<bool>(enable_temporal_filter_, "enable_temporal_filter", false);
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setAndGetNodeParameter<bool>(enable_hole_filling_filter_, "enable_hole_filling_filter", false);
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setAndGetNodeParameter<bool>(enable_spatial_fast_filter_, "enable_spatial_fast_filter", false);
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setAndGetNodeParameter<bool>(enable_spatial_moderate_filter_, "enable_spatial_moderate_filter",
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false);
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setAndGetNodeParameter<int>(decimation_filter_scale_, "decimation_filter_scale", -1);
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setAndGetNodeParameter<int>(sequence_id_filter_id_, "sequence_id_filter_id", -1);
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setAndGetNodeParameter<int>(threshold_filter_max_, "threshold_filter_max", -1);
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@@ -3688,26 +3716,56 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
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"The filter switch setting is successful, but the filter parameter setting fails";
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return;
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}
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} else {
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RCLCPP_INFO_STREAM(
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logger_, request->filter_name
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<< "Cannot be set\n"
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<< "The filter_name value that can be set is "
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"DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, Nois"
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"eRemovalFilter, SpatialAdvancedFilter and TemporalFilter");
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return;
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}
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for (auto &filter : depth_filter_list_) {
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std::cout << " - " << filter->getName() << ": "
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<< (filter->isEnabled() ? "enabled" : "disabled") << std::endl;
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auto configSchemaVec = filter->getConfigSchemaVec();
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for (auto &configSchema : configSchemaVec) {
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std::cout << " - {" << configSchema.name << ", " << configSchema.type << ", "
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<< configSchema.min << ", " << configSchema.max << ", " << configSchema.step
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<< ", " << configSchema.def << ", " << configSchema.desc << "}" << std::endl;
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} else if (request->filter_name == "SpatialFastFilter") {
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auto spatial_fast_filter = std::make_shared<ob::SpatialFastFilter>();
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spatial_fast_filter->enable(request->filter_enable);
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depth_filter_list_.push_back(spatial_fast_filter);
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if (request->filter_param.size() > 0) {
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OBSpatialFastFilterParams params{};
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params.radius = request->filter_param[0];
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spatial_fast_filter->setFilterParams(params);
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RCLCPP_INFO_STREAM(logger_, "Set SpatialFastFilter radius to " << params.radius);
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} else {
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response->message =
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"The filter switch setting is successful, but the filter parameter setting fails";
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return;
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}
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} else if (request->filter_name == "SpatialModerateFilter") {
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auto spatial_moderate_filter = std::make_shared<ob::SpatialModerateFilter>();
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spatial_moderate_filter->enable(request->filter_enable);
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depth_filter_list_.push_back(spatial_moderate_filter);
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if (request->filter_param.size() > 2) {
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OBSpatialModerateFilterParams params{};
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params.disp_diff = request->filter_param[0];
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params.magnitude = request->filter_param[1];
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params.radius = request->filter_param[2];
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spatial_moderate_filter->setFilterParams(params);
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RCLCPP_INFO_STREAM(logger_, "Set SpatialModerateFilter params: "
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<< "\ndisp_diff:" << params.disp_diff << "\nmagnitude:"
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<< params.magnitude << "\nradius:" << params.radius);
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} else {
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RCLCPP_INFO_STREAM(
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logger_, request->filter_name
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<< "Cannot be set\n"
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<< "The filter_name value that can be set is "
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"DecimationFilter, HDRMerge, SequenceIdFilter, ThresholdFilter, "
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"NoiseRemovalFilter, HardwareNoiseRemoval, SpatialAdvancedFilter, "
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"SpatialFastFilter, SpatialModerateFilter and TemporalFilter");
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return;
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}
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for (auto &filter : depth_filter_list_) {
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std::cout << " - " << filter->getName() << ": "
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<< (filter->isEnabled() ? "enabled" : "disabled") << std::endl;
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auto configSchemaVec = filter->getConfigSchemaVec();
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for (auto &configSchema : configSchemaVec) {
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std::cout << " - {" << configSchema.name << ", " << configSchema.type << ", "
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<< configSchema.min << ", " << configSchema.max << ", " << configSchema.step
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<< ", " << configSchema.def << ", " << configSchema.desc << "}" << std::endl;
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}
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}
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response->success = true;
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}
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response->success = true;
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} catch (const ob::Error &e) {
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response->message = e.getMessage();
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response->success = false;
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