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fix: update color frame queue max frames to 1 across launch files and camera node

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This commit is contained in:
ob-yalian
2026-09-30 16:46:02 +08:00
parent a0ea215a80
commit aa38ffa3ca
23 changed files with 29 additions and 29 deletions
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orbbec_camera/examples/multi_camera_shared_container/gemini_330_series_shared_container.launch.py
+1 -1
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@@ -111,7 +111,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -3
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@@ -1009,7 +1009,7 @@ class OBCameraNode {
// For color
ColorFrameQueue color_frame_queue_;
ColorQueueStats color_frame_queue_stats_;
int color_frame_queue_max_frames_ = 10;
int color_frame_queue_max_frames_ = 1;
std::shared_ptr<std::thread> colorFrameThread_ = nullptr;
std::atomic_bool stop_color_frame_threads_{false};
std::mutex color_frame_queue_lock_;
@@ -1018,7 +1018,7 @@ class OBCameraNode {
// For left color
ColorFrameQueue left_color_frame_queue_;
ColorQueueStats left_color_frame_queue_stats_;
int left_color_frame_queue_max_frames_ = 10;
int left_color_frame_queue_max_frames_ = 1;
std::shared_ptr<std::thread> leftColorFrameThread_ = nullptr;
std::mutex left_color_frame_queue_lock_;
std::condition_variable left_color_frame_queue_cv_;
@@ -1026,7 +1026,7 @@ class OBCameraNode {
// For right color
ColorFrameQueue right_color_frame_queue_;
ColorQueueStats right_color_frame_queue_stats_;
int right_color_frame_queue_max_frames_ = 10;
int right_color_frame_queue_max_frames_ = 1;
std::shared_ptr<std::thread> rightColorFrameThread_ = nullptr;
std::mutex right_color_frame_queue_lock_;
std::condition_variable right_color_frame_queue_cv_;
orbbec_camera/launch/astra.launch.py
+1 -1
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@@ -28,7 +28,7 @@ def generate_launch_description():
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='10'),
orbbec_camera/launch/astra2.launch.py
+1 -1
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@@ -27,7 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("cloud_frame_id", default_value=""),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
DeclareLaunchArgument("color_width", default_value="1280"),
DeclareLaunchArgument("color_height", default_value="720"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/dabai_a.launch.py
+1 -1
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@@ -86,7 +86,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/dabai_al.launch.py
+1 -1
View File
@@ -87,7 +87,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/dabai_dcw2.launch.py
+1 -1
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@@ -28,7 +28,7 @@ def generate_launch_description():
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='15'),
orbbec_camera/launch/dabai_max_pro.launch.py
+1 -1
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@@ -29,7 +29,7 @@ def generate_launch_description():
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('diagnostic_period', default_value='0.0'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='25'),
orbbec_camera/launch/femto.launch.py
+1 -1
View File
@@ -26,7 +26,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
DeclareLaunchArgument("color_width", default_value="640"),
DeclareLaunchArgument("color_height", default_value="480"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/femto_bolt.launch.py
+1 -1
View File
@@ -27,7 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
DeclareLaunchArgument("color_width", default_value="1280"),
DeclareLaunchArgument("color_height", default_value="720"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/femto_mega.launch.py
+1 -1
View File
@@ -27,7 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
DeclareLaunchArgument("color_width", default_value="1280"),
DeclareLaunchArgument("color_height", default_value="720"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/gemini2.launch.py
+1 -1
View File
@@ -27,7 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
DeclareLaunchArgument("color_width", default_value="0"),
DeclareLaunchArgument("color_height", default_value="0"),
DeclareLaunchArgument("color_fps", default_value="0"),
orbbec_camera/launch/gemini210.launch.py
+1 -1
View File
@@ -27,7 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
DeclareLaunchArgument("color_width", default_value="0"),
DeclareLaunchArgument("color_height", default_value="0"),
DeclareLaunchArgument("color_fps", default_value="0"),
orbbec_camera/launch/gemini2L.launch.py
+1 -1
View File
@@ -90,7 +90,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
DeclareLaunchArgument("color_width", default_value="1280"),
DeclareLaunchArgument("color_height", default_value="800"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/gemini345.launch.py
+1 -1
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@@ -86,7 +86,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini345_lg.launch.py
+1 -1
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@@ -87,7 +87,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini435_le.launch.py
+1 -1
View File
@@ -87,7 +87,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini_301_series.launch.py
+3 -3
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@@ -110,9 +110,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('left_color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('right_color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('left_color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('right_color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color
DeclareLaunchArgument('ae_strategy', default_value='default'), # default or motion
DeclareLaunchArgument('color_width', default_value='0'),
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
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@@ -100,7 +100,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1 -1
View File
@@ -98,7 +98,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini_330_series_sdk_json.launch.py
+1 -1
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@@ -81,7 +81,7 @@ def generate_launch_description():
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_qos', default_value='default'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+1 -1
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@@ -65,7 +65,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/src/ob_camera_node.cpp
+3 -3
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@@ -4721,11 +4721,11 @@ void OBCameraNode::setupDefaultImageFormat() {
void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(camera_name_, "camera_name", "camera");
setAndGetNodeParameter<int>(color_frame_queue_max_frames_, "color_frame_queue_max_frames", 10);
setAndGetNodeParameter<int>(color_frame_queue_max_frames_, "color_frame_queue_max_frames", 1);
setAndGetNodeParameter<int>(left_color_frame_queue_max_frames_,
"left_color_frame_queue_max_frames", 10);
"left_color_frame_queue_max_frames", 1);
setAndGetNodeParameter<int>(right_color_frame_queue_max_frames_,
"right_color_frame_queue_max_frames", 10);
"right_color_frame_queue_max_frames", 1);
const auto validate_queue_capacity = [](const char *name, int capacity) {
if (capacity < 1) {
throw StreamConfigurationError(std::string(name) + " must be greater than zero");