From 290699b4db8b6c1e3c7af285c9ef09436bf9e904 Mon Sep 17 00:00:00 2001
From: jj <957713278@qq.com>
Date: Wed, 4 Jun 2025 16:01:47 +0800
Subject: [PATCH] Update skip color implementation

---
 .../include/orbbec_camera/ob_camera_node.h    |  6 +----
 orbbec_camera/src/ob_camera_node.cpp          | 27 +++----------------
 2 files changed, 4 insertions(+), 29 deletions(-)

diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index 2c74dd7f..a427941b 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -653,16 +653,12 @@ class OBCameraNode {
   int laser_index0_ir_brightness_ = 60;
   int laser_index0_ir_ae_max_exposure_ = 17000;
 
-  int interleave_skip_color_index_ = 1;
-  int interleave_skip_depth_index_ = 1;
-
   double delta_duration_us_ = 1000.0;
   int delta_fps_ = 2;
   VideoStreamInfo color_stream_info_ = {OB_FRAME_COLOR, 0};
   VideoStreamInfo depth_stream_info_ = {OB_FRAME_DEPTH, 0};
   VideoStreamInfo left_ir_stream_info_ = {OB_FRAME_IR_LEFT, 0};
   VideoStreamInfo right_ir_stream_info_ = {OB_FRAME_IR_RIGHT, 0};
-  uint64_t left_last_time=0;
-  uint64_t right_last_time=0;
+  uint64_t depth_last_time_ = 0;
 };
 }  // namespace orbbec_camera
diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index b596df78..f446ffe1 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -2165,11 +2165,10 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
   std::shared_ptr<ob::VideoFrame> video_frame;
   if (frame->getType() == OB_FRAME_COLOR) {
     if (interleave_frame_enable_ && interleave_skip_enable_) {
-      interleave_skip_color_index_++;
-      if (interleave_skip_color_index_ % 2 == 0) {
+      if (std::abs(static_cast<int64_t>(getFrameTimestampUs(frame)) -
+                   static_cast<int64_t>(depth_last_time_)) < 4000) {
         return;
       }
-    //   updateStreamInfo(frame, color_stream_info_);
     }
     video_frame = frame->as<ob::ColorFrame>();
   } else if (frame->getType() == OB_FRAME_DEPTH) {
@@ -2177,6 +2176,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
     if (interleave_frame_enable_ && interleave_skip_enable_) {
       if (video_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_POWER_MODE) ==
           interleave_skip_index_) {
+        depth_last_time_ = getFrameTimestampUs(frame);
         return;
       }
     }
@@ -2188,27 +2188,6 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
       if (video_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_LASER_POWER_MODE) !=
           interleave_skip_index_) {
         return;
-      } else {
-        if (frame->getType() == OB_FRAME_IR_LEFT) {
-          if ((getFrameTimestampUs(frame) - left_last_time) > 37000) {
-            RCLCPP_WARN_STREAM(logger_,
-                               "left this FrameTimestampUs:  " << (getFrameTimestampUs(frame)));
-            RCLCPP_WARN_STREAM(logger_, "left last FrameTimestampUs:  " << (left_last_time));
-            RCLCPP_WARN_STREAM(logger_, "left-between current and previous fram "
-                                            << (getFrameTimestampUs(frame) - left_last_time));
-          }
-          left_last_time = getFrameTimestampUs(frame);
-        }
-        if (frame->getType() == OB_FRAME_IR_RIGHT) {
-          if ((getFrameTimestampUs(frame) - right_last_time) > 37000) {
-            RCLCPP_WARN_STREAM(logger_,
-                               "right this FrameTimestampUs:  " << (getFrameTimestampUs(frame)));
-            RCLCPP_WARN_STREAM(logger_, "right last FrameTimestampUs:  " << (right_last_time));
-            RCLCPP_WARN_STREAM(logger_, "right-between current and previous fram "
-                                            << (getFrameTimestampUs(frame) - right_last_time));
-          }
-          right_last_time = getFrameTimestampUs(frame);
-        }
       }
     }
   } else {