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Fix the issue of ineffective software filtering in depth filtering configuration。

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This commit is contained in:
lixiaobin
2024-01-02 11:58:31 +08:00
parent 4faf18b9b1
commit edd700d8d1
1 changed files with 4 additions and 5 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -5
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@@ -191,10 +191,10 @@ void OBCameraNode::setupDevices() {
if (!depth_filter_config_.empty() && enable_depth_filter_) { if (!depth_filter_config_.empty() && enable_depth_filter_) {
RCLCPP_INFO_STREAM(logger_, "Load depth filter config: " << depth_filter_config_); RCLCPP_INFO_STREAM(logger_, "Load depth filter config: " << depth_filter_config_);
device_->loadDepthFilterConfig(depth_filter_config_.c_str()); device_->loadDepthFilterConfig(depth_filter_config_.c_str());
} } else {
if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) {
if (device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE)) { device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_);
device_->setBoolProperty(OB_PROP_DEPTH_SOFT_FILTER_BOOL, enable_soft_filter_); }
} }
if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) { if (device_->isPropertySupported(OB_PROP_COLOR_AUTO_EXPOSURE_BOOL, OB_PERMISSION_WRITE)) {
@@ -568,7 +568,6 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter(enable_soft_filter_, "enable_soft_filter", true); setAndGetNodeParameter(enable_soft_filter_, "enable_soft_filter", true);
setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", ""); setAndGetNodeParameter<std::string>(depth_filter_config_, "depth_filter_config", "");
if (!depth_filter_config_.empty()) { if (!depth_filter_config_.empty()) {
enable_soft_filter_ = false;
enable_depth_filter_ = true; enable_depth_filter_ = true;
} }
setAndGetNodeParameter(enable_frame_sync_, "enable_frame_sync", false); setAndGetNodeParameter(enable_frame_sync_, "enable_frame_sync", false);