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feat: add services for setting and getting point cloud decimation factor

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This commit is contained in:
ob-yalian
2025-11-24 15:10:56 +08:00
parent e599484f3d
commit 81869ffb1b
2 changed files with 62 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+6
View File
@@ -365,6 +365,10 @@ class OBCameraNode {
std::shared_ptr<SetInt32 ::Response>& response);
void setFilterCallback(const std::shared_ptr<SetFilter ::Request>& request,
std::shared_ptr<SetFilter ::Response>& response);
void setPointCloudDecimationCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response);
void getPointCloudDecimationCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void sendSoftwareTriggerCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
@@ -572,6 +576,8 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr send_software_trigger_srv_;
rclcpp::Service<SetFilter>::SharedPtr set_filter_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_point_cloud_decimation_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_point_cloud_decimation_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_streams_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_streams_enable_srv_;
rclcpp::Service<GetUserCalibParams>::SharedPtr get_user_calib_params_srv_;
orbbec_camera/src/ros_service.cpp
+56
View File
@@ -261,7 +261,63 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<GetBool::Response> response) {
getStreamsEnableCallback(request, response);
});
set_point_cloud_decimation_srv_ = node_->create_service<SetInt32>(
"set_point_cloud_decimation", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setPointCloudDecimationCallback(request, response);
});
get_point_cloud_decimation_srv_ = node_->create_service<GetInt32>(
"get_point_cloud_decimation", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getPointCloudDecimationCallback(request, response);
});
}
void OBCameraNode::getPointCloudDecimationCallback(
const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response) {
(void)request;
try {
response->data = point_cloud_decimation_filter_factor_;
response->success = true;
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
void OBCameraNode::setPointCloudDecimationCallback(
const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response) {
if (!request) {
response->success = false;
response->message = "Invalid request";
return;
}
if (request->data <= 0 || request->data > 8) {
response->success = false;
response->message = "Decimation factor must be between 1 and 8";
RCLCPP_WARN_STREAM(logger_, "Invalid decimation factor: " << request->data);
return;
}
try {
point_cloud_decimation_filter_factor_ = request->data;
RCLCPP_INFO_STREAM(logger_, "Set point_cloud_decimation_filter_factor to "
<< point_cloud_decimation_filter_factor_);
response->success = true;
response->message = "Point cloud decimation factor updated successfully";
} catch (const std::exception &e) {
response->success = false;
response->message = std::string("Failed to set decimation factor: ") + e.what();
RCLCPP_ERROR_STREAM(logger_, response->message);
}
}
void OBCameraNode::setStreamsEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
std::shared_ptr<std_srvs::srv::SetBool::Response> response) {