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[launch]Add frame_aggregate_mode param in launch

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zhuangzi
2025-01-13 18:02:22 +08:00
parent c3d3a45ecc
commit 8e4106b424
3 changed files with 16 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12
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@@ -1167,6 +1167,8 @@ void OBCameraNode::getParameters() {
long software_trigger_period = 33;
setAndGetNodeParameter<long>(software_trigger_period, "software_trigger_period", 33);
software_trigger_period_ = std::chrono::milliseconds(software_trigger_period);
setAndGetNodeParameter<std::string>(frame_aggregate_mode_, "frame_aggregate_mode", "ANY");
}
void OBCameraNode::setupTopics() {
@@ -1257,6 +1259,16 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->enableStream(stream_profile_[stream_index]);
}
}
if (frame_aggregate_mode_ == "full_frame") {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE);
} else if (frame_aggregate_mode_ == "color_frame") {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_COLOR_FRAME_REQUIRE);
} else if (frame_aggregate_mode_ == "disable") {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_DISABLE);
} else {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION);
}
}
void OBCameraNode::setupCameraInfo() {