add frame drop judgement

orbbec_camera/config/OrbbecSDKConfig_v1.0.xml

@@ -37,7 +37,7 @@
     </Memory>
 
     <Misc>
-        <GlobalTimestampFitterEnable>false</GlobalTimestampFitterEnable>
+        <GlobalTimestampFitterEnable>true</GlobalTimestampFitterEnable>
         <!-- Global timestamp fitter refresh interval, unit: milliseconds, default value: 1000,
         minimum value: 100, it is recommended not to be greater than 1000 -->
         <GlobalTimestampFitterInterval>1000</GlobalTimestampFitterInterval>

orbbec_camera/config/camera_params.yaml

@@ -1,11 +1,11 @@
 # common params
-depth_registration: true
+depth_registration: false
 enable_point_cloud: false
 enable_colored_point_cloud: false
 device_preset: "High Accuracy"
 laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
 time_domain: "global" # global, device, system
-enable_sync_host_time: false
+enable_sync_host_time: true
 frames_per_trigger: 1
 
 # When 3D reconstruction mode is enabled:
@@ -18,33 +18,33 @@ enable_3d_reconstruction_mode: false
 enable_color: true
 color_width: 640
 color_height: 480
-color_fps: 30
+color_fps: 60
 color_format: "YUYV"
-enable_color_auto_exposure: true
+enable_color_auto_exposure: false
 color_exposure: 50 # 5ms
 color_gain: -1 # -1 default
 
 # depth params
 depth_width: 640
 depth_height: 480
-depth_fps: 30
+depth_fps: 60
 depth_format: "Y16"
 
 # ir exposure
-enable_ir_auto_exposure: false
-ir_exposure: 5000 # 5ms
-ir_gain: 40
+enable_ir_auto_exposure: true
+# ir_exposure: 5000 # 5ms
+# ir_gain: 40
 
 #left ir params
 enable_left_ir: true
 left_ir_width: 640
 left_ir_height: 480
-left_ir_fps: 30
+left_ir_fps: 60
 left_ir_format: "Y8"
 
 #right ir params
 enable_right_ir: true
 right_ir_width: 640
 right_ir_height: 480
-right_ir_fps: 30
+right_ir_fps: 60
 right_ir_format: "Y8"