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use pid adapter color format

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This commit is contained in:
Joe Dong
2022-06-13 17:35:44 +08:00
parent 81c1d17536
commit b0563611ba
3 changed files with 13 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+7 -2
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@@ -36,8 +36,11 @@ OBCameraNode::OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> devic
encoding_[INFRA0] = sensor_msgs::image_encodings::MONO16;
stream_name_[OB_STREAM_IR] = "ir";
unit_step_size_[INFRA0] = sizeof(uint8_t);
format_[COLOR] = OB_FORMAT_YUYV;
if (device_->getDeviceInfo()->pid() == FEMTO_PID) {
format_[COLOR] = OB_FORMAT_I420;
} else if (device_->getDeviceInfo()->pid() == ASTRA_PLUS_PID) {
format_[COLOR] = OB_FORMAT_YUYV;
}
image_format_[OB_STREAM_COLOR] = CV_8UC3;
encoding_[COLOR] = sensor_msgs::image_encodings::BGR8;
stream_name_[OB_STREAM_COLOR] = "color";
@@ -523,6 +526,8 @@ void OBCameraNode::publishDynamicTransforms() {
bool OBCameraNode::rbgFormatConvertRGB888(std::shared_ptr<ob::ColorFrame> frame) {
switch (frame->format()) {
case OB_FORMAT_RGB888:
return true;
case OB_FORMAT_I420:
format_convert_filter_.setFormatConvertType(FORMAT_I420_TO_RGB888);
break;