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fix: change enhanced depth confidence threshold type from float to int and update default value

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This commit is contained in:
ob-yalian
2026-07-01 14:45:47 +08:00
parent 5849759d95
commit f056efd09b
4 changed files with 26 additions and 15 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -1
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@@ -932,7 +932,7 @@ class OBCameraNode {
std::mutex enhanced_depth_filter_mutex_;
std::atomic_bool enable_enhanced_depth_{false};
std::string enhanced_depth_model_path_;
float enhanced_depth_confidence_threshold_ = -1.0f;
int enhanced_depth_confidence_threshold_ = -1;
rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr confidence_image_publisher_;
cv::Mat confidence_image_;
OBStreamType align_target_stream_ = OB_STREAM_COLOR;
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
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@@ -233,7 +233,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='0.20'),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1 -1
View File
@@ -230,7 +230,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_false_positive_filter', default_value='false'),
DeclareLaunchArgument('enable_enhanced_depth', default_value='false'),
DeclareLaunchArgument('enhanced_depth_model_path', default_value=''),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='0.20'),
DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
DeclareLaunchArgument('sequence_id_filter_id', default_value='-1'),
DeclareLaunchArgument('threshold_filter_max', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+23 -12
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@@ -4071,10 +4071,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(enable_enhanced_depth, "enable_enhanced_depth", false);
enable_enhanced_depth_.store(enable_enhanced_depth);
setAndGetNodeParameter<std::string>(enhanced_depth_model_path_, "enhanced_depth_model_path", "");
double enhanced_depth_confidence_threshold = 0.20;
setAndGetNodeParameter<double>(enhanced_depth_confidence_threshold,
"enhanced_depth_confidence_threshold", 0.20);
enhanced_depth_confidence_threshold_ = static_cast<float>(enhanced_depth_confidence_threshold);
setAndGetNodeParameter<int>(enhanced_depth_confidence_threshold_,
"enhanced_depth_confidence_threshold", 51);
setAndGetNodeParameter<bool>(enable_point_cloud_, "enable_point_cloud", false);
setAndGetNodeParameter<std::string>(ir_info_url_, "ir_info_url", "");
setAndGetNodeParameter<std::string>(color_info_url_, "color_info_url", "");
@@ -4686,17 +4684,17 @@ bool OBCameraNode::validateEnhancedDepthFilterConfig(std::string &message) const
}
void OBCameraNode::applyEnhancedDepthConfidenceThreshold() {
if (!enhanced_depth_filter_ || enhanced_depth_confidence_threshold_ < 0.0f) {
if (!enhanced_depth_filter_ || enhanced_depth_confidence_threshold_ < 0) {
return;
}
auto range = enhanced_depth_filter_->getConfidenceThresholdRange();
if (enhanced_depth_confidence_threshold_ < range.min ||
enhanced_depth_confidence_threshold_ > range.max) {
const auto confidence_threshold = static_cast<uint32_t>(enhanced_depth_confidence_threshold_);
if (confidence_threshold < range.min || confidence_threshold > range.max) {
std::ostringstream ss;
ss << "Enhanced depth confidence threshold is out of range " << range.min << " - " << range.max;
throw std::runtime_error(ss.str());
}
enhanced_depth_filter_->setConfidenceThreshold(enhanced_depth_confidence_threshold_);
enhanced_depth_filter_->setConfidenceThreshold(confidence_threshold);
}
bool OBCameraNode::ensureEnhancedDepthFilter(std::string &message) {
@@ -7233,10 +7231,21 @@ bool OBCameraNode::applyEnhancedDepthFilterConfig(
}
bool has_confidence_threshold = false;
float confidence_threshold = enhanced_depth_confidence_threshold_;
int confidence_threshold = enhanced_depth_confidence_threshold_;
auto parse_confidence_threshold = [&message](double value, int &threshold) {
if (std::floor(value) != value || value < 0.0 || value > 255.0) {
message =
"EnhancedDepthFilter confidence_threshold expects an integer value in range 0 - 255";
return false;
}
threshold = static_cast<int>(value);
return true;
};
if (!positional_params.empty()) {
if (!parse_confidence_threshold(positional_params[0], confidence_threshold)) {
return false;
}
has_confidence_threshold = true;
confidence_threshold = positional_params[0];
}
for (const auto &param : named_params) {
if (param.name != "confidence_threshold") {
@@ -7247,8 +7256,10 @@ bool OBCameraNode::applyEnhancedDepthFilterConfig(
if (!parseFilterConfigDouble(param.value, parsed_value, message)) {
return false;
}
if (!parse_confidence_threshold(parsed_value, confidence_threshold)) {
return false;
}
has_confidence_threshold = true;
confidence_threshold = static_cast<float>(parsed_value);
}
std::string validate_message;
@@ -7257,7 +7268,7 @@ bool OBCameraNode::applyEnhancedDepthFilterConfig(
return false;
}
const float previous_threshold = enhanced_depth_confidence_threshold_;
const int previous_threshold = enhanced_depth_confidence_threshold_;
if (has_confidence_threshold) {
enhanced_depth_confidence_threshold_ = confidence_threshold;
}