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feat: add depth downscale parameter for Gemini 305 support

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ob-yalian
2026-01-13 17:23:08 +08:00
parent 775a99b3f7
commit dbce96cd88
4 changed files with 30 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+13 -2
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@@ -1268,8 +1268,18 @@ void OBCameraNode::setupProfiles() {
format_[elem] == OB_FORMAT_UNKNOWN) {
selected_profile = profiles->getProfile(0)->as<ob::VideoStreamProfile>();
} else {
selected_profile = profiles->getVideoStreamProfile(width_[elem], height_[elem],
format_[elem], fps_[elem]);
auto pid = device_->getDeviceInfo()->getPid();
if (pid == 0x0840 && elem == DEPTH) {
// Gemini 305
OBDownSampleConfig conf;
conf.originWidth = width_[elem];
conf.originHeight = height_[elem];
conf.scaleFactor = depth_downscale_;
selected_profile = profiles->getVideoStreamProfile(conf, format_[elem], fps_[elem]);
} else {
selected_profile = profiles->getVideoStreamProfile(width_[elem], height_[elem],
format_[elem], fps_[elem]);
}
}
} catch (const ob::Error &ex) {
@@ -1912,6 +1922,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(ordered_pc_, "ordered_pc", false);
setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
setAndGetNodeParameter<int>(depth_downscale_, "depth_downscale", 1);
setAndGetNodeParameter<std::string>(device_preset_, "device_preset", "");
setAndGetNodeParameter<bool>(enable_decimation_filter_, "enable_decimation_filter", false);
setAndGetNodeParameter<bool>(enable_hdr_merge_, "enable_hdr_merge", false);