feat: add depth downscale parameter for Gemini 305 support

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -711,6 +711,7 @@ class OBCameraNode {
 
   bool ordered_pc_ = false;
   bool enable_depth_scale_ = true;
+  int depth_downscale_ = 1;
   std::string device_preset_ = "Default";
   // filter switch
   bool enable_decimation_filter_ = false;

orbbec_camera/launch/gemini305.launch.py

@@ -122,6 +122,7 @@ def generate_launch_description():
 
         DeclareLaunchArgument('depth_width', default_value='0'),
         DeclareLaunchArgument('depth_height', default_value='0'),
+        DeclareLaunchArgument('depth_downscale', default_value='1'),
         DeclareLaunchArgument('depth_fps', default_value='0'),
         DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),

orbbec_camera/src/ob_camera_node.cpp

@@ -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],
+          auto pid = device_->getDeviceInfo()->getPid();
-                                                             format_[elem], fps_[elem]);
+          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);

orbbec_camera/tools/list_camera_profile.cpp

@@ -18,14 +18,24 @@ std::shared_ptr<ob::Device> initializeDevice(std::shared_ptr<ob::Pipeline> pipel
 
 void listSensorProfiles(const std::shared_ptr<ob::Device>& device) {
   auto sensor_list = device->getSensorList();
+  auto pid = device->getDeviceInfo()->getPid();
   for (size_t i = 0; i < sensor_list->getCount(); i++) {
     auto sensor = sensor_list->getSensor(i);
     auto profile_list = sensor->getStreamProfileList();
     for (size_t j = 0; j < profile_list->getCount(); j++) {
       auto origin_profile = profile_list->getProfile(j);
-      if (sensor->getType() == OB_SENSOR_COLOR || sensor->getType() == OB_SENSOR_DEPTH ||
+      if (sensor->getType() == OB_SENSOR_DEPTH && pid == 0x0840) {
-          sensor->getType() == OB_SENSOR_IR || sensor->getType() == OB_SENSOR_IR_LEFT ||
+        // Gemini 305
-          sensor->getType() == OB_SENSOR_IR_RIGHT) {
+        auto profile = origin_profile->as<ob::VideoStreamProfile>();
+        std::cout << magic_enum::enum_name(sensor->getType()) << " profile: " << profile->getWidth()
+                  << "x" << profile->getHeight() << " " << profile->getFps() << "fps "
+                  << magic_enum::enum_name(profile->getFormat())
+                  << " Weight: " << profile->getDownSampleConfig().originWidth
+                  << " Height: " << profile->getDownSampleConfig().originHeight
+                  << " downscale:" << profile->getDownSampleConfig().scaleFactor << std::endl;
+      } else if (sensor->getType() == OB_SENSOR_COLOR || sensor->getType() == OB_SENSOR_DEPTH ||
+                 sensor->getType() == OB_SENSOR_IR || sensor->getType() == OB_SENSOR_IR_LEFT ||
+                 sensor->getType() == OB_SENSOR_IR_RIGHT) {
         auto profile = origin_profile->as<ob::VideoStreamProfile>();
         std::cout << magic_enum::enum_name(sensor->getType()) << " profile: " << profile->getWidth()
                   << "x" << profile->getHeight() << " " << profile->getFps() << "fps "
@@ -43,7 +53,8 @@ void listSensorProfiles(const std::shared_ptr<ob::Device>& device) {
       } else if (sensor->getType() == OB_SENSOR_LIDAR) {
         auto profile = origin_profile->as<ob::LiDARStreamProfile>();
         std::cout << magic_enum::enum_name(sensor->getType())
-                  << " scan rate: " << magic_enum::enum_name(profile->getScanRate()) << "  format:"<<magic_enum::enum_name(profile->getFormat())<< std::endl;
+                  << " scan rate: " << magic_enum::enum_name(profile->getScanRate())
+                  << "  format:" << magic_enum::enum_name(profile->getFormat()) << std::endl;
       } else {
         std::cout << "Unknown profile: " << magic_enum::enum_name(sensor->getType()) << std::endl;
       }