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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/config/camera_params.yaml
+9 -9
View File
@@ -1,6 +1,6 @@
# common params # common params
depth_registration: false depth_registration: false
enable_point_cloud: true enable_point_cloud: false
enable_colored_point_cloud: false enable_colored_point_cloud: false
device_preset: "High Accuracy" device_preset: "High Accuracy"
laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
@@ -19,16 +19,16 @@ enable_3d_reconstruction_mode: false
enable_color: true enable_color: true
color_width: 640 color_width: 640
color_height: 360 color_height: 360
color_fps: 60 color_fps: 30
color_format: "YUYV" color_format: "MJPG"
enable_color_auto_exposure: false enable_color_auto_exposure: false
color_exposure: 50 # 5ms color_exposure: 50 # 5ms
color_gain: -1 # -1 default color_gain: -1 # -1 default
color_qos: "sensor_data" color_qos: "sensor_data"
# depth params # depth params
depth_width: 640 depth_width: 848
depth_height: 360 depth_height: 480
depth_fps: 60 depth_fps: 60
depth_format: "Y16" depth_format: "Y16"
depth_qos: "sensor_data" depth_qos: "sensor_data"
@@ -40,16 +40,16 @@ ir_gain: -1
#left ir params #left ir params
enable_left_ir: true enable_left_ir: true
left_ir_width: 640 left_ir_width: 848
left_ir_height: 360 left_ir_height: 480
left_ir_fps: 60 left_ir_fps: 60
left_ir_format: "Y8" left_ir_format: "Y8"
left_ir_qos: "sensor_data" left_ir_qos: "sensor_data"
#right ir params #right ir params
enable_right_ir: true enable_right_ir: true
right_ir_width: 640 right_ir_width: 848
right_ir_height: 360 right_ir_height: 480
right_ir_fps: 60 right_ir_fps: 60
right_ir_format: "Y8" right_ir_format: "Y8"
right_ir_qos: "sensor_data" right_ir_qos: "sensor_data"
orbbec_camera/src/ob_camera_node.cpp
+14 -13
View File
@@ -2193,19 +2193,21 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
} }
std::shared_ptr<ob::VideoFrame> video_frame; std::shared_ptr<ob::VideoFrame> video_frame;
if (frame->getType() == OB_FRAME_COLOR) { if (frame->getType() == OB_FRAME_COLOR) {
// updateStreamInfo(frame, color_stream_info_); updateStreamInfo(frame, color_stream_info_);
if (interleave_frame_enable_ && interleave_skip_enable_) { // if (interleave_frame_enable_ && interleave_skip_enable_) {
interleave_skip_color_index_++; // interleave_skip_color_index_++;
RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_color_index_: %d", // RCLCPP_DEBUG(logger_, "interleave filter skip interleave_skip_color_index_: %d",
interleave_skip_color_index_); // interleave_skip_color_index_);
if (interleave_skip_color_index_ % 2 == 0) { // if (interleave_skip_color_index_ % 2 == 0) {
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType()); // RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
return; // return;
} // }
updateStreamInfo(frame, color_stream_info_); // updateStreamInfo(frame, color_stream_info_);
} // }
video_frame = frame->as<ob::ColorFrame>(); video_frame = frame->as<ob::ColorFrame>();
} else if (frame->getType() == OB_FRAME_DEPTH) { } else if (frame->getType() == OB_FRAME_DEPTH) {
video_frame = frame->as<ob::DepthFrame>();
// updateStreamInfo(frame, depth_stream_info_); // updateStreamInfo(frame, depth_stream_info_);
if (interleave_frame_enable_ && interleave_skip_enable_) { if (interleave_frame_enable_ && interleave_skip_enable_) {
// interleave_skip_depth_index_++; // 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()); // RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
// return; // 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_) { interleave_skip_index_) {
RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType()); RCLCPP_DEBUG(logger_, "interleave filter skip frame type: %d", frame->getType());
return; return;
} }
updateStreamInfo(frame, depth_stream_info_); updateStreamInfo(frame, depth_stream_info_);
} }
video_frame = frame->as<ob::DepthFrame>();
} else if (frame->getType() == OB_FRAME_IR || frame->getType() == OB_FRAME_IR_LEFT || } else if (frame->getType() == OB_FRAME_IR || frame->getType() == OB_FRAME_IR_LEFT ||
frame->getType() == OB_FRAME_IR_RIGHT) { frame->getType() == OB_FRAME_IR_RIGHT) {
video_frame = frame->as<ob::IRFrame>(); video_frame = frame->as<ob::IRFrame>();