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feat: add AE/AWB lock test functionality and related services

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This commit is contained in:
ob-yalian
2026-07-29 16:14:53 +08:00
parent e9bd942c1d
commit 84c1d4178d
12 changed files with 552 additions and 2 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+16
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@@ -57,12 +57,14 @@
#include "orbbec_camera_msgs/msg/depth_filters_status.hpp"
#include "orbbec_camera_msgs/srv/get_device_config.hpp"
#include "orbbec_camera_msgs/srv/get_device_info.hpp"
#include "orbbec_camera_msgs/srv/get_awb_gain.hpp"
#include "orbbec_camera_msgs/msg/extrinsics.hpp"
#include "orbbec_camera_msgs/msg/metadata.hpp"
#include "orbbec_camera_msgs/msg/imu_info.hpp"
#include "orbbec_camera_msgs/srv/get_int32.hpp"
#include "orbbec_camera_msgs/srv/get_string.hpp"
#include "orbbec_camera_msgs/srv/set_int32.hpp"
#include "orbbec_camera_msgs/srv/set_awb_gain.hpp"
#include "orbbec_camera_msgs/srv/get_bool.hpp"
#include "orbbec_camera_msgs/srv/set_string.hpp"
#include "orbbec_camera_msgs/srv/set_filter.hpp"
@@ -121,6 +123,8 @@ using GetDeviceInfo = orbbec_camera_msgs::srv::GetDeviceInfo;
using Extrinsics = orbbec_camera_msgs::msg::Extrinsics;
using SetInt32 = orbbec_camera_msgs::srv::SetInt32;
using GetInt32 = orbbec_camera_msgs::srv::GetInt32;
using GetAwbGain = orbbec_camera_msgs::srv::GetAwbGain;
using SetAwbGain = orbbec_camera_msgs::srv::SetAwbGain;
using GetString = orbbec_camera_msgs::srv::GetString;
using SetString = orbbec_camera_msgs::srv::SetString;
using SetBool = std_srvs::srv::SetBool;
@@ -414,6 +418,15 @@ class OBCameraNode {
void setAutoWhiteBalanceCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool::Response>& response);
void getAeAwbStatusCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
void getAwbGainCallback(const std::shared_ptr<GetAwbGain::Request>& request,
std::shared_ptr<GetAwbGain::Response>& response);
void setAwbGainCallback(const std::shared_ptr<SetAwbGain::Request>& request,
std::shared_ptr<SetAwbGain::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);
@@ -722,6 +735,9 @@ class OBCameraNode {
rclcpp::Service<SetInt32>::SharedPtr set_white_balance_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_;
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_ae_awb_status_srv_;
rclcpp::Service<GetAwbGain>::SharedPtr get_awb_gain_srv_;
rclcpp::Service<SetAwbGain>::SharedPtr set_awb_gain_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
rclcpp::Service<SetString>::SharedPtr export_config_json_srv_;