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change color resoution to 640*360 30fps

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datean
2024-12-14 09:01:02 -05:00
parent d26d4eb03c
commit b4ab5e3548
2 changed files with 23 additions and 22 deletions
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orbbec_camera/src/ob_camera_node.cpp
+14 -13
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@@ -2193,19 +2193,21 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
}
std::shared_ptr<ob::VideoFrame> video_frame;
if (frame->getType() == OB_FRAME_COLOR) {
// updateStreamInfo(frame, color_stream_info_);
if (interleave_frame_enable_ && interleave_skip_enable_) {
interleave_skip_color_index_++;
RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_color_index_: %d",
interleave_skip_color_index_);
if (interleave_skip_color_index_ % 2 == 0) {
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
return;
}
updateStreamInfo(frame, color_stream_info_);
}
updateStreamInfo(frame, color_stream_info_);
// if (interleave_frame_enable_ && interleave_skip_enable_) {
// interleave_skip_color_index_++;
// RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_color_index_: %d",
// interleave_skip_color_index_);
// if (interleave_skip_color_index_ % 2 == 0) {
// RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
// return;
// }
// updateStreamInfo(frame, color_stream_info_);
// }
video_frame = frame->as<ob::ColorFrame>();
} else if (frame->getType() == OB_FRAME_DEPTH) {
video_frame = frame->as<ob::DepthFrame>();
// updateStreamInfo(frame, depth_stream_info_);
if (interleave_frame_enable_ && interleave_skip_enable_) {
// interleave_skip_depth_index_++;
@@ -2215,14 +2217,13 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
// RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
// return;
// }
if (frame->getMetadataValue(OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_INDEX) !=
if (video_frame->getMetadataValue(OB_FRAME_METADATA_TYPE_HDR_SEQUENCE_INDEX) !=
interleave_skip_index_) {
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
return;
}
updateStreamInfo(frame, depth_stream_info_);
}
video_frame = frame->as<ob::DepthFrame>();
} else if (frame->getType() == OB_FRAME_IR || frame->getType() == OB_FRAME_IR_LEFT ||
frame->getType() == OB_FRAME_IR_RIGHT) {
video_frame = frame->as<ob::IRFrame>();