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feat: enhance camera configuration for Gemini 305 with left and right color stream support

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slz
2026-01-13 17:23:08 +08:00
committed by ob-yalian
parent 31a34e2cc2
commit 5b3904f078
3 changed files with 76 additions and 100 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12
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@@ -510,6 +510,10 @@ void OBCameraNode::setupDevices() {
mirrorPropertyID = OB_PROP_IR_MIRROR_BOOL;
} else if (stream_index == INFRA2) {
mirrorPropertyID = OB_PROP_IR_RIGHT_MIRROR_BOOL;
} else if (stream_index == COLOR_LEFT) {
mirrorPropertyID = OB_PROP_COLOR_LEFT_MIRROR_BOOL;
} else if (stream_index == COLOR_RIGHT) {
mirrorPropertyID = OB_PROP_COLOR_RIGHT_MIRROR_BOOL;
}
if (device_->isPropertySupported(mirrorPropertyID, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting " << stream_name_[stream_index] << " mirror to "
@@ -527,6 +531,10 @@ void OBCameraNode::setupDevices() {
flipPropertyID = OB_PROP_IR_FLIP_BOOL;
} else if (stream_index == INFRA2) {
flipPropertyID = OB_PROP_IR_RIGHT_FLIP_BOOL;
} else if (stream_index == COLOR_LEFT) {
flipPropertyID = OB_PROP_COLOR_LEFT_FLIP_BOOL;
} else if (stream_index == COLOR_RIGHT) {
flipPropertyID = OB_PROP_COLOR_RIGHT_FLIP_BOOL;
}
if (device_->isPropertySupported(flipPropertyID, OB_PERMISSION_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting " << stream_name_[stream_index] << " flip to "
@@ -544,6 +552,10 @@ void OBCameraNode::setupDevices() {
rotationPropertyID = OB_PROP_IR_ROTATE_INT;
} else if (stream_index == INFRA2) {
rotationPropertyID = OB_PROP_IR_RIGHT_ROTATE_INT;
} else if (stream_index == COLOR_LEFT) {
rotationPropertyID = OB_PROP_COLOR_LEFT_ROTATE_INT;
} else if (stream_index == COLOR_RIGHT) {
rotationPropertyID = OB_PROP_COLOR_RIGHT_ROTATE_INT;
}
if (rotation_stream_[stream_index] != -1 &&
device_->isPropertySupported(rotationPropertyID, OB_PERMISSION_WRITE)) {