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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/src/ros_service.cpp
+51 -9
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@@ -52,15 +52,14 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetInt32::Response> response) {
setGainCallback(request, response, stream_index);
});
if (stream_index.first == OB_STREAM_COLOR || stream_index.first == OB_STREAM_DEPTH) {
service_name = "set_" + stream_name + "_auto_exposure";
set_auto_exposure_srv_[stream_index] = node_->create_service<SetBool>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setAutoExposureCallback(request, response, stream_index);
});
}
service_name = "set_" + stream_name + "_auto_exposure";
set_auto_exposure_srv_[stream_index] = node_->create_service<SetBool>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setAutoExposureCallback(request, response, stream_index);
});
service_name = "toggle_" + stream_name;
toggle_sensor_srv_[stream_index] = node_->create_service<SetBool>(
@@ -105,6 +104,16 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetInt32::Response> response) {
setWhiteBalanceCallback(request, response);
});
get_auto_white_balance_srv_ = node_->create_service<GetInt32>(
"get_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getAutoWhiteBalanceCallback(request, response);
});
set_auto_white_balance_srv_ = node_->create_service<SetBool>(
"set_white_balance", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setAutoWhiteBalanceCallback(request, response);
});
get_device_srv_ = node_->create_service<GetDeviceInfo>(
"get_device_info", [this](const std::shared_ptr<GetDeviceInfo::Request> request,
std::shared_ptr<GetDeviceInfo::Response> response) {
@@ -248,6 +257,39 @@ void OBCameraNode::setWhiteBalanceCallback(const std::shared_ptr<SetInt32 ::Requ
}
}
void OBCameraNode::getAutoWhiteBalanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response) {
(void)request;
try {
response->data = device_->getBoolProperty(OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL);
response->success = true;
} catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage();
} catch (const std::exception& e) {
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
void OBCameraNode::setAutoWhiteBalanceCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool::Response>& response) {
try {
device_->setBoolProperty(OB_PROP_COLOR_AUTO_WHITE_BALANCE_BOOL, request->data);
response->success = true;
} catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage();
} catch (const std::exception& e) {
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
void OBCameraNode::setAutoExposureCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response,