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add gmsl support

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datean
2024-12-05 11:11:26 +08:00
parent 49bf5898c2
commit 60cda1cf5e
5 changed files with 32 additions and 13 deletions
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orbbec_camera/src/ob_camera_node.cpp
+14 -5
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@@ -2039,9 +2039,8 @@ void OBCameraNode::updateStreamInfo(const std::shared_ptr<ob::Frame> &frame,
double dst_duration = 0.0;
int dst_fps = 0;
stream_index_pair dst_frame_type;
double delta_duration = delta_duration_;
int delta_fps = delta_fps_;
if (current_timestamp <= stream_info.last_frame_time) {
if (current_timestamp < stream_info.last_frame_time) {
RCLCPP_INFO_STREAM(logger_, "[WARNING] current_timestamp "
<< current_timestamp << " stream_info.last_frame_time "
<< stream_info.last_frame_time << "\n");
@@ -2123,10 +2122,20 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
}
std::shared_ptr<ob::VideoFrame> video_frame;
if (frame->getType() == OB_FRAME_COLOR) {
updateStreamInfo(frame, color_stream_info_);
// updateStreamInfo(frame, color_stream_info_);
if (interleave_skip_enable_) {
interleave_skip_color_index_++;
RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_color_index_: %d",
interleave_skip_color_index_);
if (interleave_skip_color_index_ % 2 == 0) {
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
return;
}
updateStreamInfo(frame, color_stream_info_);
}
video_frame = frame->as<ob::ColorFrame>();
} else if (frame->getType() == OB_FRAME_DEPTH) {
// interleave filter depth
// updateStreamInfo(frame, depth_stream_info_);
if (interleave_skip_enable_) {
interleave_skip_depth_index_++;
RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_index_: %d",