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Add hardware_noise_removal_filter_threshold param in gemini_330_series.launch.py

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This commit is contained in:
jj
2025-03-31 14:19:14 +08:00
parent fc109ab855
commit dd0e3ae617
3 changed files with 25 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+22
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@@ -626,6 +626,16 @@ void OBCameraNode::setupDevices() {
enable_hardware_noise_removal_filter_);
RCLCPP_INFO_STREAM(
logger_, "Setting hardware_noise_removal_filter:" << enable_hardware_noise_removal_filter_);
if (device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
OB_PERMISSION_READ_WRITE)) {
if (hardware_noise_removal_filter_threshold_ != -1.0 &&
enable_hardware_noise_removal_filter_) {
device_->setFloatProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
hardware_noise_removal_filter_threshold_);
RCLCPP_INFO_STREAM(logger_, "Setting hardware_noise_removal_filter_threshold :"
<< hardware_noise_removal_filter_threshold_);
}
}
}
}
void OBCameraNode::setupColorPostProcessFilter() {
@@ -1474,6 +1484,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(sequence_id_filter_id_, "sequence_id_filter_id", -1);
setAndGetNodeParameter<int>(threshold_filter_max_, "threshold_filter_max", -1);
setAndGetNodeParameter<int>(threshold_filter_min_, "threshold_filter_min", -1);
setAndGetNodeParameter<float>(hardware_noise_removal_filter_threshold_,
"hardware_noise_removal_filter_threshold", -1.0);
setAndGetNodeParameter<int>(noise_removal_filter_min_diff_, "noise_removal_filter_min_diff", 256);
setAndGetNodeParameter<int>(noise_removal_filter_max_size_, "noise_removal_filter_max_size", 80);
setAndGetNodeParameter<float>(spatial_filter_alpha_, "spatial_filter_alpha", -1.0);
@@ -3263,6 +3275,16 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
request->filter_enable);
RCLCPP_INFO_STREAM(logger_,
"Setting hardware_noise_removal_filter:" << request->filter_enable);
if (device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
OB_PERMISSION_READ_WRITE)) {
if (hardware_noise_removal_filter_threshold_ != -1.0 &&
enable_hardware_noise_removal_filter_) {
device_->setFloatProperty(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
hardware_noise_removal_filter_threshold_);
RCLCPP_INFO_STREAM(logger_, "Setting hardware_noise_removal_filter_threshold :"
<< hardware_noise_removal_filter_threshold_);
}
}
}
} else if (request->filter_name == "SpatialAdvancedFilter") {
auto spatial_filter = std::make_shared<ob::SpatialAdvancedFilter>();