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[launch]Add frame_aggregate_mode param in launch

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zhuangzi
2025-01-13 17:04:07 +08:00
parent 1303427e17
commit d215b7097d
3 changed files with 15 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+12
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@@ -1307,6 +1307,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(offset_index0_, "offset_index0", 0);
setAndGetNodeParameter<int>(offset_index1_, "offset_index1", 0);
setAndGetNodeParameter<std::string>(frame_aggregate_mode_, "frame_aggregate_mode", "ANY");
RCLCPP_INFO_STREAM(logger_, "current time domain: " << time_domain_);
RCLCPP_INFO_STREAM(logger_, "hdr_index1_laser_control_ "
<< hdr_index1_laser_control_ << " hdr_index1_depth_exposure_ "
@@ -1436,6 +1438,16 @@ void OBCameraNode::setupPipelineConfig() {
pipeline_config_->enableStream(stream_profile_[stream_index]);
}
}
if (frame_aggregate_mode_ == "full_frame") {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_FULL_FRAME_REQUIRE);
} else if (frame_aggregate_mode_ == "color_frame") {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_COLOR_FRAME_REQUIRE);
} else if (frame_aggregate_mode_ == "disable") {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_DISABLE);
} else {
pipeline_config_->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ANY_SITUATION);
}
}
void OBCameraNode::setupPublishers() {