i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-05 20:47:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: add left and right IR downscale parameters to OBCameraNode and launch configuration

Browse Source
This commit is contained in:
ob-yalian
2026-01-13 17:23:08 +08:00
parent 181d34fb5c
commit 499e4db506
4 changed files with 23 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+15 -2
View File
@@ -1354,6 +1354,7 @@ void OBCameraNode::printSensorProfiles(const std::shared_ptr<ob::Sensor> &sensor
void OBCameraNode::setupProfiles() {
// Image stream
auto pid = device_->getDeviceInfo()->getPid();
for (const auto &elem : IMAGE_STREAMS) {
if (enable_stream_[elem]) {
const auto &sensor = sensors_[elem];
@@ -1384,14 +1385,24 @@ void OBCameraNode::setupProfiles() {
format_[elem] == OB_FORMAT_UNKNOWN) {
selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
} else {
auto pid = device_->getDeviceInfo()->getPid();
if (pid == GEMINI_305_PID && elem == DEPTH) {
// Gemini 305
OBDownSampleConfig conf;
conf.originWidth = width_[elem];
conf.originHeight = height_[elem];
conf.scaleFactor = depth_downscale_;
selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
} else if (pid == GEMINI_305_PID && elem == INFRA1) {
OBDownSampleConfig conf;
conf.originWidth = width_[elem];
conf.originHeight = height_[elem];
conf.scaleFactor = left_ir_downscale_;
selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
} else if (pid == GEMINI_305_PID && elem == INFRA2) {
OBDownSampleConfig conf;
conf.originWidth = width_[elem];
conf.originHeight = height_[elem];
conf.scaleFactor = right_ir_downscale_;
selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
} else {
selected_profile = profiles->getVideoStreamProfile(width_[elem], height_[elem],
format_[elem], fps_[elem]);
@@ -2048,6 +2059,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
setAndGetNodeParameter<int>(depth_downscale_, "depth_downscale", 1);
setAndGetNodeParameter<int>(left_ir_downscale_, "left_ir_downscale", 1);
setAndGetNodeParameter<int>(right_ir_downscale_, "right_ir_downscale", 1);
setAndGetNodeParameter<std::string>(device_preset_, "device_preset", "");
setAndGetNodeParameter<bool>(enable_decimation_filter_, "enable_decimation_filter", false);
setAndGetNodeParameter<bool>(enable_hdr_merge_, "enable_hdr_merge", false);