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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/src/ob_camera_node.cpp
+9 -5
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@@ -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;