i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-08 13:57:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: Added Gemini 435Le color stream MJPG format metadata information

Browse Source
This commit is contained in:
obyalian
2025-10-13 14:19:26 +08:00
parent 3c71e14a84
commit 5d26b3407b
3 changed files with 8 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_camera_node.cpp
+5 -1
View File
@@ -2245,7 +2245,9 @@ void OBCameraNode::setupPublishers() {
camera_info_publishers_[stream_index] = node_->create_publisher<CameraInfo>(
topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(camera_info_qos_profile),
camera_info_qos_profile));
if (isGemini335PID(pid)) {
if (isGemini335PID(pid) ||
(isGemini435LePID(pid) && stream_index == COLOR &&
(format_[stream_index] == OB_FORMAT_MJPG || format_[stream_index] == OB_FORMAT_UNKNOWN))) {
metadata_publishers_[stream_index] =
node_->create_publisher<orbbec_camera_msgs::msg::Metadata>(
name + "/metadata",
@@ -3736,6 +3738,8 @@ bool OBCameraNode::isGemini335PID(uint32_t pid) {
pid == CUSTOM_ADVANTECH_GEMINI_336L_PID || pid == GEMINI_338_PID;
}
bool OBCameraNode::isGemini435LePID(uint32_t pid) { return pid == GEMINI_435Le_PID; }
orbbec_camera_msgs::msg::IMUInfo OBCameraNode::createIMUInfo(
const stream_index_pair &stream_index) {
orbbec_camera_msgs::msg::IMUInfo imu_info;