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skip depth by hdr_index, enable noise_removal_filter and threshold_filter, use device_preset to High Accuracy

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datean
2024-12-13 03:10:29 -05:00
parent 681d104822
commit e7ffc91aeb
3 changed files with 14 additions and 10 deletions
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orbbec_camera/config/camera_params.yaml
+1 -1
View File
@@ -2,7 +2,7 @@
depth_registration: false
enable_point_cloud: true
enable_colored_point_cloud: false
device_preset: "Default"
device_preset: "High Accurary"
laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
time_domain: "global" # global, device, system
enable_sync_host_time: true
orbbec_camera/launch/gemini_330_series_interleave_laser_g335L.launch.py
+4 -4
View File
@@ -145,17 +145,17 @@ def generate_launch_description():
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('enable_hdr_merge', default_value='false'),
DeclareLaunchArgument('enable_sequence_id_filter', default_value='false'),
DeclareLaunchArgument('enable_threshold_filter', default_value='false'),
DeclareLaunchArgument('enable_threshold_filter', default_value='true'),
DeclareLaunchArgument('enable_noise_removal_filter', default_value='true'),
DeclareLaunchArgument('enable_spatial_filter', default_value='false'),
DeclareLaunchArgument('enable_temporal_filter', default_value='false'),
DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale_', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
DeclareLaunchArgument('threshold_filter_min', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='6000'),
DeclareLaunchArgument('threshold_filter_min', default_value='100'),
DeclareLaunchArgument('noise_removal_filter_min_diff', default_value='256'),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='80'),
DeclareLaunchArgument('noise_removal_filter_max_size', default_value='120'),
DeclareLaunchArgument('spatial_filter_alpha', default_value='-1.0'),
DeclareLaunchArgument('spatial_filter_diff_threshold', default_value='-1'),
DeclareLaunchArgument('spatial_filter_magnitude', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+9 -5
View File
@@ -2201,10 +2201,15 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
} else if (frame->getType() == OB_FRAME_DEPTH) {
// updateStreamInfo(frame, depth_stream_info_);
if (interleave_frame_enable_ && interleave_skip_enable_) {
interleave_skip_depth_index_++;
RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_index_: %d",
interleave_skip_depth_index_);
if (interleave_skip_depth_index_ % 2 == 0) {
// interleave_skip_depth_index_++;
// RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_index_: %d",
// interleave_skip_depth_index_);
// if (interleave_skip_depth_index_ % 2 == 0) {
// RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
// return;
// }
if (frame->getMetadataValue(OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_INDEX) !=
interleave_skip_index_) {
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
return;
}
@@ -2231,7 +2236,6 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
updateStreamInfo(frame, right_ir_stream_info_);
}
}
} else {
RCLCPP_ERROR(logger_, "Unsupported frame type: %d", frame->getType());
return;