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fix: support automatic depth dimensions for Gemini 301 series

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ob-yalian
2026-09-21 22:24:28 +08:00
parent e10afc11a4
commit 6546b8804f
1 changed files with 24 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+24 -6
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@@ -3622,15 +3622,33 @@ void OBCameraNode::setupProfiles() {
if (is_playback_device_) { if (is_playback_device_) {
selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>(); selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
} else if (width_[elem] == 0 && height_[elem] == 0 && fps_[elem] == 0 && } else if (width_[elem] == 0 && height_[elem] == 0 && fps_[elem] == 0 &&
format_[elem] == OB_FORMAT_UNKNOWN) { format_[elem] == OB_FORMAT_UNKNOWN &&
!(isGemini301SeriesPID(pid_) && elem == DEPTH &&
depth_decimation_factor_ != 1)) {
selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>(); selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
} else { } else {
if (isGemini301SeriesPID(pid_) && elem == DEPTH) { if (isGemini301SeriesPID(pid_) && elem == DEPTH) {
OBHardwareDecimationConfig conf; if (width_[elem] == 0 || height_[elem] == 0) {
conf.originWidth = width_[elem]; // The SDK decimation lookup requires exact origin dimensions, not wildcards.
conf.originHeight = height_[elem]; for (const auto &profile : supported_profiles_[elem]) {
conf.factor = depth_decimation_factor_; const auto conf = profile->getDecimationConfig();
selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]); if ((width_[elem] == 0 || static_cast<int64_t>(conf.originWidth) == width_[elem]) &&
(height_[elem] == 0 ||
static_cast<int64_t>(conf.originHeight) == height_[elem]) &&
static_cast<int64_t>(conf.factor) == depth_decimation_factor_ &&
(format_[elem] == OB_FORMAT_ANY || profile->getFormat() == format_[elem]) &&
(fps_[elem] == 0 || static_cast<int64_t>(profile->getFps()) == fps_[elem])) {
selected_profile = profile;
break;
}
}
} else {
OBHardwareDecimationConfig conf;
conf.originWidth = width_[elem];
conf.originHeight = height_[elem];
conf.factor = depth_decimation_factor_;
selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
}
} else if (isGemini301SeriesPID(pid_) && elem == INFRA1) { } else if (isGemini301SeriesPID(pid_) && elem == INFRA1) {
OBHardwareDecimationConfig conf; OBHardwareDecimationConfig conf;
conf.originWidth = width_[elem]; conf.originWidth = width_[elem];