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Merge branch 'fix/enhance_filter_support' into v2/develop

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This commit is contained in:
ob-yalian
2026-09-15 10:26:16 +08:00
parent 540adb4a0f c4b6ef71ae
commit d99ce55444
4 changed files with 27 additions and 25 deletions
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orbbec_camera/src/ob_camera_node.cpp
+16 -13
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@@ -650,7 +650,9 @@ void OBCameraNode::publishDepthFiltersStatus() {
if (disp_outliers_filter_supported) {
append_unique_filter_name("DispOutliersFilter");
}
append_unique_filter_name("EnhancedDepthFilter");
if (isGemini330SeriesPID(pid_)) {
append_unique_filter_name("EnhancedDepthFilter");
}
msg.filters.reserve(ordered_filter_names.size());
for (const auto &filter_name : ordered_filter_names) {
@@ -3235,7 +3237,7 @@ void OBCameraNode::setupLeftIrPostProcessFilter() {
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (isGemini335PID(pid_)) {
if (isGemini330SeriesPID(pid_)) {
auto left_ir_sensor = device_->getSensor(OB_SENSOR_IR_LEFT);
left_ir_filter_list_ = left_ir_sensor->createRecommendedFilters();
if (left_ir_filter_list_.empty()) {
@@ -3276,7 +3278,7 @@ void OBCameraNode::setupRightIrPostProcessFilter() {
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (isGemini335PID(pid_)) {
if (isGemini330SeriesPID(pid_)) {
auto right_ir_sensor = device_->getSensor(OB_SENSOR_IR_RIGHT);
right_ir_filter_list_ = right_ir_sensor->createRecommendedFilters();
if (right_ir_filter_list_.empty()) {
@@ -5288,6 +5290,11 @@ bool OBCameraNode::validateEnhancedDepthFilterConfig(std::string &message) const
constexpr char kEnhancedDepthSupportedTargetResolutions[] = "640x480/1280x720/1280x800";
constexpr char kEnhancedDepthSupportedDepthFormats[] = "Y10/Y11/Y12/Y14/Y16/Z16";
if (!isGemini330SeriesPID(pid_)) {
message = "Enhanced depth filter is only supported by Gemini 330 series devices";
return false;
}
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";
@@ -7931,18 +7938,9 @@ bool OBCameraNode::setupFormatConvertType(OBFormat format, ob::FormatConvertFilt
return true;
}
bool OBCameraNode::isGemini335PID(uint32_t pid) {
return pid == GEMINI_335_PID || pid == GEMINI_330_PID || pid == GEMINI_336_PID ||
pid == GEMINI_335L_PID || pid == GEMINI_330L_PID || pid == GEMINI_336L_PID ||
pid == GEMINI_335LG_PID || pid == GEMINI_336LG_PID || pid == GEMINI_335LE_PID ||
pid == GEMINI_336LE_PID || pid == CUSTOM_ADVANTECH_GEMINI_336_PID ||
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID ||
pid == GEMINI_338L_PID || pid == GEMINI_338LE_PID || pid == GEMINI_338LG_PID;
}
bool OBCameraNode::isGemini435LePID(uint32_t pid) { return pid == GEMINI_435Le_PID; }
bool OBCameraNode::isPublishMetaData(uint32_t pid) {
return isGemini335PID(pid) || isGemini435LePID(pid) || isGemini305SeriesPID(pid);
return isGemini330SeriesPID(pid) || isGemini435LePID(pid) || isGemini305SeriesPID(pid);
}
bool OBCameraNode::isDabaiASeriesForHwD2C(uint32_t pid) {
@@ -8279,6 +8277,11 @@ bool OBCameraNode::applyEnhancedDepthFilterConfig(
bool enabled, const std::vector<float> &positional_params,
const std::vector<orbbec_camera_msgs::msg::DepthFilterParam> &named_params,
std::string &message) {
if (!isGemini330SeriesPID(pid_)) {
message = "Enhanced depth filter is only supported by Gemini 330 series devices";
return false;
}
if (positional_params.size() > 1) {
message = "EnhancedDepthFilter only supports one positional parameter";
return false;