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fix: update default FPS settings for color and depth streams in launch files

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This commit is contained in:
ob-yalian
2026-04-03 19:25:18 +08:00
parent ddbea47c21
commit 22f7092175
3 changed files with 27 additions and 10 deletions
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orbbec_camera/launch/gemini305.launch.py
+4 -4
View File
@@ -112,7 +112,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sports_mode', default_value='false'),
DeclareLaunchArgument('color_width', default_value='848'),
DeclareLaunchArgument('color_height', default_value='530'),
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_fps', default_value='10'),
DeclareLaunchArgument('color_format', default_value='YUYV'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('enable_left_color', default_value='true'),
@@ -149,7 +149,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_width', default_value='848'),
DeclareLaunchArgument('depth_height', default_value='530'),
DeclareLaunchArgument('depth_decimation_factor', default_value='1'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
@@ -167,7 +167,7 @@ def generate_launch_description():
DeclareLaunchArgument('left_ir_width', default_value='848'),
DeclareLaunchArgument('left_ir_height', default_value='530'),
DeclareLaunchArgument('left_ir_decimation_factor', default_value='1'),
DeclareLaunchArgument('left_ir_fps', default_value='30'),
DeclareLaunchArgument('left_ir_fps', default_value='10'),
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
@@ -180,7 +180,7 @@ def generate_launch_description():
DeclareLaunchArgument('right_ir_width', default_value='848'),
DeclareLaunchArgument('right_ir_height', default_value='530'),
DeclareLaunchArgument('right_ir_decimation_factor', default_value='1'),
DeclareLaunchArgument('right_ir_fps', default_value='30'),
DeclareLaunchArgument('right_ir_fps', default_value='10'),
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
orbbec_camera/launch/gemini305_g.launch.py
+4 -4
View File
@@ -112,7 +112,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sports_mode', default_value='false'),
DeclareLaunchArgument('color_width', default_value='848'),
DeclareLaunchArgument('color_height', default_value='530'),
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_fps', default_value='10'),
DeclareLaunchArgument('color_format', default_value='YUYV'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('enable_left_color', default_value='true'),
@@ -149,7 +149,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_width', default_value='848'),
DeclareLaunchArgument('depth_height', default_value='530'),
DeclareLaunchArgument('depth_decimation_factor', default_value='1'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
@@ -167,7 +167,7 @@ def generate_launch_description():
DeclareLaunchArgument('left_ir_width', default_value='848'),
DeclareLaunchArgument('left_ir_height', default_value='530'),
DeclareLaunchArgument('left_ir_decimation_factor', default_value='1'),
DeclareLaunchArgument('left_ir_fps', default_value='30'),
DeclareLaunchArgument('left_ir_fps', default_value='10'),
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
@@ -180,7 +180,7 @@ def generate_launch_description():
DeclareLaunchArgument('right_ir_width', default_value='848'),
DeclareLaunchArgument('right_ir_height', default_value='530'),
DeclareLaunchArgument('right_ir_decimation_factor', default_value='1'),
DeclareLaunchArgument('right_ir_fps', default_value='30'),
DeclareLaunchArgument('right_ir_fps', default_value='10'),
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
orbbec_camera/src/ob_camera_node.cpp
+19 -2
View File
@@ -4485,10 +4485,27 @@ orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request> &request,
std::shared_ptr<SetFilter ::Response> &response) {
try {
if (std::find_if(depth_filter_list_.begin(), depth_filter_list_.end(),
const bool in_recommended_filter_list =
std::find_if(depth_filter_list_.begin(), depth_filter_list_.end(),
[&request](const auto &filter) {
return filter->type() == request->filter_name;
}) == depth_filter_list_.end()) {
}) != depth_filter_list_.end();
const bool is_noise_removal_filter = request->filter_name == "NoiseRemovalFilter";
const bool is_hardware_noise_removal = request->filter_name == "HardwareNoiseRemoval";
const bool noise_removal_property_writable =
device_->isPropertySupported(OB_PROP_DEPTH_SOFT_FILTER_BOOL, OB_PERMISSION_READ_WRITE) ||
device_->isPropertySupported(OB_PROP_DEPTH_MAX_DIFF_INT, OB_PERMISSION_WRITE) ||
device_->isPropertySupported(OB_PROP_DEPTH_MAX_SPECKLE_SIZE_INT, OB_PERMISSION_WRITE);
const bool hardware_noise_removal_property_writable =
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_ENABLE_BOOL,
OB_PERMISSION_READ_WRITE) ||
device_->isPropertySupported(OB_PROP_HW_NOISE_REMOVE_FILTER_THRESHOLD_FLOAT,
OB_PERMISSION_READ_WRITE);
const bool supported_by_writable_property =
(is_noise_removal_filter && noise_removal_property_writable) ||
(is_hardware_noise_removal && hardware_noise_removal_property_writable);
if (!in_recommended_filter_list && !supported_by_writable_property) {
response->success = false;
response->message = "Filter '" + request->filter_name + "' is not supported by this device";
return;