gemini330 ros2 depth cloud point result_frame->dataSize() not stable

[tarikbeijing]

it is about this void : void OBCameraNode::publishDepthPointCloud(const std::shared_ptrob::FrameSet &frame_set) {

i see that the result frame when i display it crop regularly. i have follow back the data i see coming from camera auto point_size = result_frame->dataSize() / sizeof(OBPoint);

dadasize 12288000 dadasize 12288000 dadasize 12288000 dadasize 11059200<<<<<---- dadasize 12288000 dadasize 12288000 dadasize 11059200<<<<<<---

later when i look the valid count point_cloud_msg->width = valid_count;

i have also the same effect

valid_count2 : 909707 valid_count2 : 913847 valid_count2 : 911681 valid_count2 : 737903<<<<<---- valid_count2 : 909707 valid_count2 : 913847 valid_count2 : 913647

when i display the result it look like that the max opening angle regulary is not the same

it disturbing a lot the result.

in the opposite the color_depth frame dont have that problem

i used 2 different gemini 330, both has this problem, i use the last firmware and ros2 driver, lunux ubuntu 22.04

[jjiszjj]

@tarikbeijing Hello,Thank you very much for your feedback. Can you provide me with the specific Gemini 330 device, firmware information and OrbbecSDK_ROS2 version number?

[tarikbeijing]

so it look this is a problem from SDK1, i have now switch on Ros_sdk_version : 2.4.3 ( no change done on the firmware) Device Orbbec Gemini 335 connected Firmware version: 1.4.60 Hardware version: 0.1 Ros_sdk_version : 2.4.3 ob_sdk_version : 2.4.3 usb connect type: USB3.2

the problem is solved, the valid_count is stable now