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feat: add service to switch depth-color alignment mode

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slz
2026-07-08 17:16:42 +08:00
parent fdc0d1fe9c
commit abf88a1a4d
3 changed files with 224 additions and 23 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+9
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@@ -18,6 +18,7 @@
#include <nlohmann/json.hpp>
#include <cstddef>
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include <string>
@@ -293,6 +294,8 @@ class OBCameraNode {
void setupPublishers();
void syncSoftwareAlignment();
void publishDepthFiltersStatus();
DepthFilterState buildDepthFilterState(const std::string& filter_name, bool enabled,
@@ -328,6 +331,8 @@ class OBCameraNode {
void setStreamsEnableCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
std::shared_ptr<std_srvs::srv::SetBool::Response> response);
void setImageRegistrationModeCallback(const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response);
void getStreamsEnableCallback(
const std::shared_ptr<orbbec_camera_msgs::srv::GetBool::Request> request,
@@ -699,6 +704,7 @@ class OBCameraNode {
rclcpp::Service<SetInt32>::SharedPtr set_sync_io_voltage_level_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<SetString>::SharedPtr set_image_registration_mode_srv_;
rclcpp::Service<GetUserCalibParams>::SharedPtr get_user_calib_params_srv_;
rclcpp::Service<SetUserCalibParams>::SharedPtr set_user_calib_params_srv_;
rclcpp::Service<SetString>::SharedPtr set_ae_reference_stream_srv_;
@@ -832,6 +838,9 @@ class OBCameraNode {
uint8_t* rgb_buffer_ = nullptr;
uint8_t* rgb_buffer_left_ = nullptr;
uint8_t* rgb_buffer_right_ = nullptr;
size_t rgb_buffer_size_ = 0;
size_t rgb_buffer_left_size_ = 0;
size_t rgb_buffer_right_size_ = 0;
bool is_left_color_frame_decoded_ = false;
bool is_right_color_frame_decoded_ = false;
bool is_color_frame_decoded_ = false;