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use shared container to launch 4 camera node

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datean
2024-11-27 11:13:38 +08:00
parent 6521015f9c
commit 9bfd47969f
4 changed files with 99 additions and 24 deletions
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orbbec_camera/src/ob_camera_node.cpp
+5 -2
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@@ -1287,6 +1287,9 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(interleave_frame_enable_, "interleave_frame_enable", false);
setAndGetNodeParameter<bool>(interleave_skip_enable_, "interleave_skip_enable", false);
setAndGetNodeParameter<int>(interleave_skip_index_, "interleave_skip_index", 1);
setAndGetNodeParameter<double>(delta_duration_, "delta_duration", 5000.0);
setAndGetNodeParameter<int>(delta_fps_, "delta_fps", 2);
}
void OBCameraNode::setupTopics() {
@@ -2034,8 +2037,8 @@ void OBCameraNode::updateStreamInfo(VideoStreamInfo& stream_info) {
double dst_duration = duration;
int dst_fps = 0;
stream_index_pair dst_frame_type;
double delta_duration = 2000.0;
int delta_fps = 2;
double delta_duration = delta_duration_;
int delta_fps = delta_fps_;
switch (stream_info.frame_type) {
case OB_FRAME_COLOR: