fix: update frames_per_trigger and diagnostic_period to improve performance

orbbec_camera/config/camera_params.yaml

@@ -16,7 +16,7 @@ time_domain: "global" # global, device, system
 enable_sync_host_time: true
 
 trigger_out_enabled: true
-frames_per_trigger: 0
+frames_per_trigger: 1
 software_trigger_period: 0
 enable_fps_boost: false
 

orbbec_camera/config/camera_secondary_params.yaml

@@ -16,7 +16,7 @@ time_domain: "global" # global, device, system
 enable_sync_host_time: true
 
 trigger_out_enabled: false
-frames_per_trigger: 0
+frames_per_trigger: 1
 software_trigger_period: 0
 enable_fps_boost: false
 

orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py

@@ -182,7 +182,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         DeclareLaunchArgument('enable_fps_boost', default_value='false'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),

orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py

@@ -182,7 +182,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         DeclareLaunchArgument('enable_fps_boost', default_value='false'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py

@@ -182,7 +182,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         DeclareLaunchArgument('enable_fps_boost', default_value='false'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -865,7 +865,7 @@ class OBCameraNode {
   int trigger_out_delay_us_ = 0;
   bool trigger_out_enabled_ = false;
   bool software_trigger_enabled_ = false;
-  int frames_per_trigger_ = 2;
+  int frames_per_trigger_ = 1;
   bool enable_ptp_config_ = false;
   std::string depth_precision_str_;
   OB_DEPTH_PRECISION_LEVEL depth_precision_ = OB_PRECISION_0MM8;

orbbec_camera/launch/dabai_a.launch.py

@@ -167,7 +167,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),

orbbec_camera/launch/dabai_al.launch.py

@@ -167,7 +167,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),

orbbec_camera/launch/gemini345.launch.py

@@ -166,7 +166,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),

orbbec_camera/launch/gemini345_lg.launch.py

@@ -167,7 +167,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),

orbbec_camera/launch/gemini435_le.launch.py

@@ -198,7 +198,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_ptp_config', default_value='false'),
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),

orbbec_camera/launch/gemini_301_series.launch.py

@@ -227,7 +227,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),

orbbec_camera/launch/gemini_330_series.launch.py

@@ -215,7 +215,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         DeclareLaunchArgument('enable_fps_boost', default_value='false'),
         DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),

orbbec_camera/launch/gemini_330_series_low_cpu.launch.py

@@ -210,7 +210,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
         DeclareLaunchArgument('enable_fps_boost', default_value='false'),
         DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),

orbbec_camera/launch/gemini_intra_process_demo_launch.py

@@ -125,7 +125,7 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_delay_us', default_value='0'),
         DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
-        DeclareLaunchArgument('frames_per_trigger', default_value='2'),
+        DeclareLaunchArgument('frames_per_trigger', default_value='1'),
         DeclareLaunchArgument('software_trigger_period', default_value='33'),  # ms
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),

orbbec_camera/src/ob_camera_node.cpp

@@ -4698,7 +4698,7 @@ void OBCameraNode::getParameters() {
   if (time_domain_ == "global" && !is_playback_device_) {
     device_->enableGlobalTimestamp(true);
   }
-  setAndGetNodeParameter<int>(frames_per_trigger_, "frames_per_trigger", 2);
+  setAndGetNodeParameter<int>(frames_per_trigger_, "frames_per_trigger", 1);
   int software_trigger_period = 33;
   setAndGetNodeParameter<int>(software_trigger_period, "software_trigger_period", 33);
   software_trigger_period_ = std::chrono::milliseconds(software_trigger_period);