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Update setting set_color/depth_ae_roi service area range

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This commit is contained in:
jj
2025-04-23 16:36:25 +08:00
parent b22e1c879f
commit a9170edcd7
2 changed files with 57 additions and 12 deletions
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orbbec_camera/src/ros_service.cpp
+53 -8
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@@ -314,30 +314,75 @@ void OBCameraNode::setAeRoiCallback(const std::shared_ptr<SetArrays ::Request>&
const stream_index_pair& stream_index) {
auto stream = stream_index.first;
auto config = OBRegionOfInterest();
uint32_t data_size = sizeof(config);
try {
switch (stream) {
case OB_STREAM_IR_LEFT:
case OB_STREAM_IR_RIGHT:
case OB_STREAM_IR:
case OB_STREAM_DEPTH:
config.x0_left = static_cast<short int>(request->data_param[0]);
config.x1_right = static_cast<short int>(request->data_param[1]);
config.y0_top = static_cast<short int>(request->data_param[2]);
config.y1_bottom = static_cast<short int>(request->data_param[3]);
config.x0_left = (static_cast<short int>(request->data_param[0]) < 0)
? 0
: static_cast<short int>(request->data_param[0]);
config.x0_left = (static_cast<short int>(request->data_param[0]) > width_[DEPTH] - 1)
? width_[DEPTH] - 1
: config.x0_left;
config.y0_top = (static_cast<short int>(request->data_param[2]) < 0)
? 0
: static_cast<short int>(request->data_param[2]);
config.y0_top = (static_cast<short int>(request->data_param[2]) > height_[DEPTH] - 1)
? height_[DEPTH] - 1
: config.y0_top;
config.x1_right = (static_cast<short int>(request->data_param[1]) < 0)
? 0
: static_cast<short int>(request->data_param[1]);
config.x1_right = (static_cast<short int>(request->data_param[1]) > width_[DEPTH] - 1)
? width_[DEPTH] - 1
: config.x1_right;
config.y1_bottom = (static_cast<short int>(request->data_param[3]) < 0)
? 0
: static_cast<short int>(request->data_param[3]);
config.y1_bottom = (static_cast<short int>(request->data_param[3]) > height_[DEPTH] - 1)
? height_[DEPTH] - 1
: config.y1_bottom;
device_->setStructuredData(OB_STRUCT_DEPTH_AE_ROI,
reinterpret_cast<const uint8_t*>(&config), sizeof(config));
device_->getStructuredData(OB_STRUCT_DEPTH_AE_ROI, reinterpret_cast<uint8_t*>(&config),
&data_size);
RCLCPP_INFO_STREAM(logger_,
"set depth AE ROI : " << "[Left: " << config.x0_left << ", Right: "
<< config.x1_right << ", Top: " << config.y0_top
<< ", Bottom: " << config.y1_bottom << " ]");
break;
case OB_STREAM_COLOR:
config.x0_left = static_cast<short int>(request->data_param[0]);
config.x1_right = static_cast<short int>(request->data_param[1]);
config.y0_top = static_cast<short int>(request->data_param[2]);
config.y1_bottom = static_cast<short int>(request->data_param[3]);
config.x0_left = (static_cast<short int>(request->data_param[0]) < 0)
? 0
: static_cast<short int>(request->data_param[0]);
config.x0_left = (static_cast<short int>(request->data_param[0]) > width_[COLOR] - 1)
? width_[COLOR] - 1
: config.x0_left;
config.y0_top = (static_cast<short int>(request->data_param[2]) < 0)
? 0
: static_cast<short int>(request->data_param[2]);
config.y0_top = (static_cast<short int>(request->data_param[2]) > height_[COLOR] - 1)
? height_[COLOR] - 1
: config.y0_top;
config.x1_right = (static_cast<short int>(request->data_param[1]) < 0)
? 0
: static_cast<short int>(request->data_param[1]);
config.x1_right = (static_cast<short int>(request->data_param[1]) > width_[COLOR] - 1)
? width_[COLOR] - 1
: config.x1_right;
config.y1_bottom = (static_cast<short int>(request->data_param[3]) < 0)
? 0
: static_cast<short int>(request->data_param[3]);
config.y1_bottom = (static_cast<short int>(request->data_param[3]) > height_[COLOR] - 1)
? height_[COLOR] - 1
: config.y1_bottom;
device_->setStructuredData(OB_STRUCT_COLOR_AE_ROI,
reinterpret_cast<const uint8_t*>(&config), sizeof(config));
device_->getStructuredData(OB_STRUCT_COLOR_AE_ROI, reinterpret_cast<uint8_t*>(&config),
&data_size);
RCLCPP_INFO_STREAM(logger_,
"set color AE ROI : " << "[Left: " << config.x0_left << ", Right: "
<< config.x1_right << ", Top: " << config.y0_top