diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index eecad960..4d042ec2 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -295,6 +295,11 @@ class OBCameraNode {
                                       std::shared_ptr<SetInt32 ::Response>& response);
   void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
                               std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
+
+  void setDecimationFilterEnableCallback(
+      const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
+      std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
+
   bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
 
   void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
@@ -448,6 +453,7 @@ class OBCameraNode {
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
   rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
+  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_decimation_filter_enable_srv_;
 
   bool enable_sync_output_accel_gyro_ = false;
   bool publish_tf_ = false;
diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index b8163066..95a99b7b 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -184,6 +184,11 @@ void OBCameraNode::setupCameraCtrlServices() {
                                   std::shared_ptr<SetBool::Response> response) {
         setSYNCHostimeCallback(request, response);
       });
+  set_decimation_filter_enable_srv_ = node_->create_service<SetBool>(
+      "set_decimation_filter_enable", [this](const std::shared_ptr<SetBool::Request> request,
+                                             std::shared_ptr<SetBool::Response> response) {
+        setDecimationFilterEnableCallback(request, response);
+      });
 }
 
 void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -836,4 +841,33 @@ void OBCameraNode::setSYNCHostimeCallback(
     response->success = false;
   }
 }
+void OBCameraNode::setDecimationFilterEnableCallback(
+    const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
+    std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
+  try {
+    enable_decimation_filter_ = request->data;
+    if (enable_decimation_filter_) {
+      decimation_filter_scale_ = node_->get_parameter("decimation_filter_scale").as_int();
+      if (decimation_filter_scale_ == -1) {
+        RCLCPP_WARN(logger_, "Please configure the parameter 'decimation_filter_scale'");
+        return;
+      }
+    } else {
+      decimation_filter_scale_ = -1;
+    }
+    setupDepthPostProcessFilter();
+    node_->set_parameter(rclcpp::Parameter("enable_decimation_filter", enable_decimation_filter_));
+    node_->set_parameter(rclcpp::Parameter("decimation_filter_scale", decimation_filter_scale_));
+    response->success = true;
+  } catch (const ob::Error& e) {
+    response->message = e.getMessage();
+    response->success = false;
+  } catch (const std::exception& e) {
+    response->message = e.what();
+    response->success = false;
+  } catch (...) {
+    response->message = "unknown error";
+    response->success = false;
+  }
+}
 }  // namespace orbbec_camera