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Fix the issue that decimation_filter_scale cannot be set to 8

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jj
2025-05-07 16:42:20 +08:00
parent 4c60a7f685
commit f18b3b7d65
1 changed files with 12 additions and 12 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12 -12
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@@ -707,14 +707,14 @@ void OBCameraNode::setupColorPostProcessFilter() {
if (filter_name == "DecimationFilter" && enable_color_decimation_filter_) { if (filter_name == "DecimationFilter" && enable_color_decimation_filter_) {
auto decimation_filter = filter->as<ob::DecimationFilter>(); auto decimation_filter = filter->as<ob::DecimationFilter>();
auto range = decimation_filter->getScaleRange(); auto range = decimation_filter->getScaleRange();
if (color_decimation_filter_scale_ != -1 && color_decimation_filter_scale_ < range.max && if (color_decimation_filter_scale_ != -1 && color_decimation_filter_scale_ <= range.max &&
color_decimation_filter_scale_ > range.min) { color_decimation_filter_scale_ >= range.min) {
RCLCPP_INFO_STREAM(logger_, "Set color decimation filter scale value to " RCLCPP_INFO_STREAM(logger_, "Set color decimation filter scale value to "
<< color_decimation_filter_scale_); << color_decimation_filter_scale_);
decimation_filter->setScaleValue(color_decimation_filter_scale_); decimation_filter->setScaleValue(color_decimation_filter_scale_);
} }
if (color_decimation_filter_scale_ != -1 && (color_decimation_filter_scale_ < range.min || if (color_decimation_filter_scale_ != -1 && (color_decimation_filter_scale_ <= range.min ||
color_decimation_filter_scale_ > range.max)) { color_decimation_filter_scale_ >= range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Color Decimation filter scale value is out of range " RCLCPP_ERROR_STREAM(logger_, "Color Decimation filter scale value is out of range "
<< range.min << " - " << range.max); << range.min << " - " << range.max);
} }
@@ -821,14 +821,14 @@ void OBCameraNode::setupDepthPostProcessFilter() {
if (filter_name == "DecimationFilter" && enable_decimation_filter_) { if (filter_name == "DecimationFilter" && enable_decimation_filter_) {
auto decimation_filter = filter->as<ob::DecimationFilter>(); auto decimation_filter = filter->as<ob::DecimationFilter>();
auto range = decimation_filter->getScaleRange(); auto range = decimation_filter->getScaleRange();
if (decimation_filter_scale_ != -1 && decimation_filter_scale_ < range.max && if (decimation_filter_scale_ != -1 && decimation_filter_scale_ <= range.max &&
decimation_filter_scale_ > range.min) { decimation_filter_scale_ >= range.min) {
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_,
"Set decimation filter scale value to " << decimation_filter_scale_); "Set decimation filter scale value to " << decimation_filter_scale_);
decimation_filter->setScaleValue(decimation_filter_scale_); decimation_filter->setScaleValue(decimation_filter_scale_);
} }
if (decimation_filter_scale_ != -1 && if (decimation_filter_scale_ != -1 &&
(decimation_filter_scale_ < range.min || decimation_filter_scale_ > range.max)) { (decimation_filter_scale_ <= range.min || decimation_filter_scale_ >= range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range " RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range "
<< range.min << " - " << range.max); << range.min << " - " << range.max);
} }
@@ -903,14 +903,14 @@ void OBCameraNode::setupDepthPostProcessFilter() {
decimation_filter->enable(true); decimation_filter->enable(true);
depth_filter_list_.push_back(decimation_filter); depth_filter_list_.push_back(decimation_filter);
auto range = decimation_filter->getScaleRange(); auto range = decimation_filter->getScaleRange();
if (decimation_filter_scale_ != -1 && decimation_filter_scale_ < range.max && if (decimation_filter_scale_ != -1 && decimation_filter_scale_ <= range.max &&
decimation_filter_scale_ > range.min) { decimation_filter_scale_ >= range.min) {
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_,
"Set decimation filter scale value to " << decimation_filter_scale_); "Set decimation filter scale value to " << decimation_filter_scale_);
decimation_filter->setScaleValue(decimation_filter_scale_); decimation_filter->setScaleValue(decimation_filter_scale_);
} }
if (decimation_filter_scale_ != -1 && if (decimation_filter_scale_ != -1 &&
(decimation_filter_scale_ < range.min || decimation_filter_scale_ > range.max)) { (decimation_filter_scale_ <= range.min || decimation_filter_scale_ >= range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range " RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range "
<< range.min << " - " << range.max); << range.min << " - " << range.max);
} }
@@ -3437,13 +3437,13 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
if (request->filter_param.size() > 0) { if (request->filter_param.size() > 0) {
auto range = decimation_filter->getScaleRange(); auto range = decimation_filter->getScaleRange();
auto decimation_filter_scale = request->filter_param[0]; auto decimation_filter_scale = request->filter_param[0];
if (decimation_filter_scale < range.max && decimation_filter_scale > range.min) { if (decimation_filter_scale <= range.max && decimation_filter_scale >= range.min) {
RCLCPP_INFO_STREAM(logger_, RCLCPP_INFO_STREAM(logger_,
"Set decimation filter scale value to " << decimation_filter_scale); "Set decimation filter scale value to " << decimation_filter_scale);
decimation_filter->setScaleValue(decimation_filter_scale); decimation_filter->setScaleValue(decimation_filter_scale);
} }
if (decimation_filter_scale != -1 && if (decimation_filter_scale != -1 &&
(decimation_filter_scale < range.min || decimation_filter_scale > range.max)) { (decimation_filter_scale <= range.min || decimation_filter_scale >= range.max)) {
RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range " RCLCPP_ERROR_STREAM(logger_, "Decimation filter scale value is out of range "
<< range.min << " - " << range.max); << range.min << " - " << range.max);
} }