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fix: label side stream sensor profiles

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slz
2026-09-10 10:45:25 +08:00
parent d37a16df38
commit 1f1b541bda
1 changed files with 21 additions and 12 deletions
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orbbec_camera/src/ob_camera_node.cpp
+21 -12
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@@ -3532,35 +3532,44 @@ void OBCameraNode::selectBaseStream() {
void OBCameraNode::printSensorProfiles(const std::shared_ptr<ob::Sensor> &sensor) {
auto profiles = sensor->getStreamProfileList();
const auto sensor_type = sensor->getType();
for (size_t i = 0; i < profiles->getCount(); i++) {
auto origin_profile = profiles->getProfile(i);
if (sensor->getType() == OB_SENSOR_COLOR) {
if (sensor_type == OB_SENSOR_COLOR || sensor_type == OB_SENSOR_COLOR_LEFT ||
sensor_type == OB_SENSOR_COLOR_RIGHT) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(
logger_, "color profile: " << profile->getWidth() << "x" << profile->getHeight() << " "
<< profile->getFps() << "fps " << profile->getFormat());
} else if (sensor->getType() == OB_SENSOR_DEPTH) {
const char *stream_name = sensor_type == OB_SENSOR_COLOR_LEFT ? "left_color"
: sensor_type == OB_SENSOR_COLOR_RIGHT ? "right_color"
: "color";
RCLCPP_INFO_STREAM(logger_, stream_name << " profile: " << profile->getWidth() << "x"
<< profile->getHeight() << " " << profile->getFps()
<< "fps " << profile->getFormat());
} else if (sensor_type == OB_SENSOR_DEPTH) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(
logger_, "depth profile: " << profile->getWidth() << "x" << profile->getHeight() << " "
<< profile->getFps() << "fps " << profile->getFormat());
} else if (sensor->getType() == OB_SENSOR_IR) {
} else if (sensor_type == OB_SENSOR_IR || sensor_type == OB_SENSOR_IR_LEFT ||
sensor_type == OB_SENSOR_IR_RIGHT) {
auto profile = origin_profile->as<ob::VideoStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "ir profile: " << profile->getWidth() << "x"
<< profile->getHeight() << " " << profile->getFps()
<< "fps " << profile->getFormat());
} else if (sensor->getType() == OB_SENSOR_ACCEL) {
const char *stream_name = sensor_type == OB_SENSOR_IR_LEFT ? "left_ir"
: sensor_type == OB_SENSOR_IR_RIGHT ? "right_ir"
: "ir";
RCLCPP_INFO_STREAM(logger_, stream_name << " profile: " << profile->getWidth() << "x"
<< profile->getHeight() << " " << profile->getFps()
<< "fps " << profile->getFormat());
} else if (sensor_type == OB_SENSOR_ACCEL) {
auto profile = origin_profile->as<ob::AccelStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "accel profile: sampleRate " << profile->getSampleRate()
<< " full scale_range "
<< profile->getFullScaleRange());
} else if (sensor->getType() == OB_SENSOR_GYRO) {
} else if (sensor_type == OB_SENSOR_GYRO) {
auto profile = origin_profile->as<ob::GyroStreamProfile>();
RCLCPP_INFO_STREAM(logger_, "gyro profile: sampleRate " << profile->getSampleRate()
<< " full scale_range "
<< profile->getFullScaleRange());
} else {
RCLCPP_INFO_STREAM(logger_, "unknown profile: " << magic_enum::enum_name(sensor->getType()));
RCLCPP_INFO_STREAM(logger_, "unknown profile: " << magic_enum::enum_name(sensor_type));
}
}
}