add brightness filter (#284)

luxonis · Jun 16, 2023 · 40dec09 · 40dec09
1 parent c77c4e9
commit 40dec09
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diff --git a/depthai_ros_driver/config/camera.yaml b/depthai_ros_driver/config/camera.yaml
@@ -112,6 +112,9 @@
       i_enable_speckle_filter: false
       i_enable_temporal_filter: false
       i_enable_threshold_filter: false
+      i_enable_brightness_filter: false
+      i_brightness_filter_min_brightness: 1
+      i_brightness_filter_max_brightness: 256
       i_extended_disp: false
       i_height: 720
       i_low_bandwidth: false

diff --git a/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp b/depthai_ros_driver/src/param_handlers/stereo_param_handler.cpp
@@ -122,6 +122,10 @@ void StereoParamHandler::declareParams(std::shared_ptr<dai::node::StereoDepth> s
         config.postProcessing.thresholdFilter.minRange = declareAndLogParam<int>("i_threshold_filter_min_range", 400);
         config.postProcessing.thresholdFilter.maxRange = declareAndLogParam<int>("i_threshold_filter_max_range", 15000);
     }
+    if(declareAndLogParam<bool>("i_enable_brightness_filter", false)) {
+        config.postProcessing.brightnessFilter.minBrightness = declareAndLogParam<int>("i_brightness_filter_min_brightness", 0);
+        config.postProcessing.brightnessFilter.maxBrightness = declareAndLogParam<int>("i_brightness_filter_max_brightness", 256);
+    }
     if(declareAndLogParam<bool>("i_enable_decimation_filter", false)) {
         config.postProcessing.decimationFilter.decimationMode =
             utils::getValFromMap(declareAndLogParam<std::string>("i_decimation_filter_decimation_mode", "PIXEL_SKIPPING"), decimationModeMap);