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Add rotation, flip and mirror parameters and services

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This commit is contained in:
jj
2025-05-12 11:52:56 +08:00
parent b2ef7d2d07
commit ba9c54b728
12 changed files with 1103 additions and 933 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+13
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@@ -291,6 +291,14 @@ class OBCameraNode {
std::shared_ptr<SetBool::Response>& response,
const stream_index_pair& stream_index);
void setFlipCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool::Response>& response,
const stream_index_pair& stream_index);
void setRotationCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response,
const stream_index_pair& stream_index);
void getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
@@ -441,6 +449,8 @@ class OBCameraNode {
std::map<stream_index_pair, bool> enable_stream_;
std::map<stream_index_pair, bool> flip_stream_;
std::map<stream_index_pair, bool> mirror_stream_;
std::map<stream_index_pair, int> rotation_stream_;
std::map<stream_index_pair, std::string> stream_name_;
std::map<stream_index_pair, std::shared_ptr<image_publisher>> image_publishers_;
std::map<stream_index_pair, rclcpp::Publisher<sensor_msgs::msg::CameraInfo>::SharedPtr>
@@ -452,6 +462,8 @@ class OBCameraNode {
std::map<stream_index_pair, rclcpp::Service<SetInt32>::SharedPtr> set_gain_srv_;
std::map<stream_index_pair, rclcpp::Service<SetBool>::SharedPtr> toggle_sensor_srv_;
std::map<stream_index_pair, rclcpp::Service<SetBool>::SharedPtr> set_mirror_srv_;
std::map<stream_index_pair, rclcpp::Service<SetBool>::SharedPtr> set_flip_srv_;
std::map<stream_index_pair, rclcpp::Service<SetInt32>::SharedPtr> set_rotation_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_white_balance_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_white_balance_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_;
@@ -518,6 +530,7 @@ class OBCameraNode {
bool enable_ir_long_exposure_ = false;
bool enable_ldp_ = true;
int ldp_power_level_ = -1;
int color_rotation_ = -1;
// color ae roi
int color_ae_roi_left_ = -1;
int color_ae_roi_top_ = -1;