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add auto white balance ctrl

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This commit is contained in:
Joe Dong
2022-06-24 14:58:57 +08:00
parent fef75c839c
commit 7b062535cb
2 changed files with 60 additions and 9 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+9
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@@ -170,6 +170,12 @@ class OBCameraNode {
void setWhiteBalanceCallback(const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response);
void getAutoWhiteBalanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
void setAutoWhiteBalanceCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool ::Response>& response);
void setAutoExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response,
const stream_index_pair& stream_index);
@@ -242,6 +248,7 @@ class OBCameraNode {
std::map<stream_index_pair, std::string> qos_;
std::map<stream_index_pair, std::string> info_qos_;
std::map<stream_index_pair, ob_format> format_;
std::map<stream_index_pair, std::string> format_str_;
std::map<ob_stream_type, int> image_format_;
std::map<stream_index_pair, std::vector<std::shared_ptr<ob::VideoStreamProfile>>>
enabled_profiles_;
@@ -267,6 +274,8 @@ class OBCameraNode {
std::map<stream_index_pair, rclcpp::Service<SetBool>::SharedPtr> toggle_sensor_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_white_balance_srv_; // only rgb
rclcpp::Service<SetInt32>::SharedPtr set_white_balance_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_; // only rgb
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_; // only rgb color