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add help scripts

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This commit is contained in:
Joe Dong
2022-06-07 15:18:19 +08:00
parent e498db77b3
commit 669755bf63
13 changed files with 46 additions and 11 deletions
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orbbec_camera/src/device_ctrl_service.cpp
+11 -10
View File
@@ -9,7 +9,7 @@ void OBCameraNode::setupCameraCtrlServices() {
for (auto stream_index : IMAGE_STREAMS) {
auto stream_name = stream_name_[stream_index.first];
if (enable_[stream_index]) {
std::string service_name = "/get/" + stream_name + "/exposure";
std::string service_name = "get/" + stream_name + "/exposure";
get_exposure_srv_[stream_index] = node_->create_service<GetInt32>(
service_name, [this, stream_index = stream_index](
const std::shared_ptr<rmw_request_id_t> request_header,
@@ -18,7 +18,7 @@ void OBCameraNode::setupCameraCtrlServices() {
getExposureCallback(request, response, stream_index);
});
service_name = "/set/" + stream_name + "/exposure";
service_name = "set/" + stream_name + "/exposure";
set_exposure_srv_[stream_index] = node_->create_service<SetInt32>(
service_name, [this, stream_index = stream_index](
const std::shared_ptr<rmw_request_id_t> request_header,
@@ -26,7 +26,7 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetInt32::Response> response) {
setExposureCallback(request, response, stream_index);
});
service_name = "/get/" + stream_name + "/gain";
service_name = "get/" + stream_name + "/gain";
get_gain_srv_[stream_index] = node_->create_service<GetInt32>(
service_name, [this, stream_index = stream_index](
const std::shared_ptr<rmw_request_id_t> request_header,
@@ -44,7 +44,7 @@ void OBCameraNode::setupCameraCtrlServices() {
setGainCallback(request, response, stream_index);
});
if (stream_index.first == OB_STREAM_COLOR || stream_index.first == OB_STREAM_DEPTH) {
service_name = "/set/" + stream_name +
service_name = "set/" + stream_name +
"/"
"auto_exposure";
set_auto_exposure_srv_[stream_index] = node_->create_service<SetBool>(
@@ -58,39 +58,39 @@ void OBCameraNode::setupCameraCtrlServices() {
}
}
set_fan_mode_srv_ = node_->create_service<SetInt32>(
"/set_fan_mode", [this](const std::shared_ptr<rmw_request_id_t> request_header,
"set_fan_mode", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setFanModeCallback(request_header, request, response);
});
set_floor_enable_srv_ = node_->create_service<SetBool>(
"/set_floor_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
"set_floor_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setFloorEnableCallback(request_header, request, response);
});
set_laser_enable_srv_ = node_->create_service<SetBool>(
"/set_laser_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
"set_laser_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setLaserEnableCallback(request_header, request, response);
});
set_ldp_enable_srv_ = node_->create_service<SetBool>(
"/set_ldp_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
"set_ldp_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setLdpEnableCallback(request_header, request, response);
});
get_white_balance_srv_ = node_->create_service<GetInt32>(
"/get/white_balance", [this](const std::shared_ptr<rmw_request_id_t> request_header,
"get/white_balance", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getWhiteBalanceCallback(request_header, request, response);
});
set_white_balance_srv_ = node_->create_service<SetInt32>(
"/set/white_balance", [this](const std::shared_ptr<rmw_request_id_t> request_header,
"set/white_balance", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setWhiteBalanceCallback(request_header, request, response);
@@ -136,6 +136,7 @@ void OBCameraNode::getGainCallback(const std::shared_ptr<GetInt32::Request>& req
break;
}
}
void OBCameraNode::setGainCallback(const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32::Response>& response,
const stream_index_pair& stream_index) {
orbbec_camera/src/ob_camera_node.cpp
+2 -1
View File
@@ -209,7 +209,6 @@ void OBCameraNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set,
}
if (frame_set->depthFrame() != nullptr && frame_set->colorFrame() != nullptr) {
publishColorPointCloud(frame_set, t);
// publishDepthPointCloud(frame_set, t);
}
// } else if (frame_set->depthFrame() != nullptr) {
// publishDepthPointCloud(frame_set, t);
@@ -222,6 +221,7 @@ void OBCameraNode::publishDepthPointCloud(std::shared_ptr<ob::FrameSet> frame_se
auto frame = point_cloud_filter_.process(frame_set);
size_t point_size = frame->dataSize() / sizeof(OBPoint);
auto* points = (OBPoint*)frame->data();
CHECK_NOTNULL(points);
sensor_msgs::PointCloud2Modifier modifier(point_cloud_msg_);
modifier.setPointCloud2FieldsByString(1, "xyz");
modifier.resize(point_size);
@@ -262,6 +262,7 @@ void OBCameraNode::publishColorPointCloud(std::shared_ptr<ob::FrameSet> frame_se
auto frame = point_cloud_filter_.process(frame_set);
size_t point_size = frame->dataSize() / sizeof(OBColorPoint);
auto* points = (OBColorPoint*)frame->data();
CHECK_NOTNULL(points);
sensor_msgs::PointCloud2Modifier modifier(point_cloud_msg_);
modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");
modifier.resize(point_size);