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add save point cloud and image

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This commit is contained in:
Joe Dong
2023-02-20 14:46:02 +08:00
parent ce8fb14f3a
commit 3fb6036b5e
3 changed files with 112 additions and 0 deletions
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orbbec_camera/src/ros_service.cpp
+35
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@@ -140,6 +140,16 @@ void OBCameraNode::setupCameraCtrlServices() {
"get_sdk_version",
[this](const std::shared_ptr<GetString::Request> request,
std::shared_ptr<GetString::Response> response) { getSDKVersion(request, response); });
save_images_srv_ = node_->create_service<std_srvs::srv::Empty>(
"save_images", [this](const std::shared_ptr<std_srvs::srv::Empty::Request> request,
std::shared_ptr<std_srvs::srv::Empty::Response> response) {
saveImageCallback(request, response);
});
save_point_cloud_srv_ = node_->create_service<std_srvs::srv::Empty>(
"save_point_cloud", [this](const std::shared_ptr<std_srvs::srv::Empty::Request> request,
std::shared_ptr<std_srvs::srv::Empty::Response> response) {
savePointCloudCallback(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -604,4 +614,29 @@ bool OBCameraNode::toggleSensor(const stream_index_pair& stream_index, bool enab
return false;
}
}
void OBCameraNode::saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
std::shared_ptr<std_srvs::srv::Empty::Response>& response) {
(void)request;
(void)response;
for (const auto& stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {
save_images_[stream_index] = true;
}
}
}
void OBCameraNode::savePointCloudCallback(
const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
std::shared_ptr<std_srvs::srv::Empty::Response>& response) {
(void)request;
(void)response;
if (enable_point_cloud_) {
save_point_cloud_ = true;
}
if (enable_colored_point_cloud_) {
save_colored_point_cloud_ = true;
}
}
} // namespace orbbec_camera