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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/src/ros_service.cpp
+92
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@@ -90,6 +90,20 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setMirrorCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_flip";
set_flip_srv_[stream_index] = node_->create_service<SetBool>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setFlipCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_rotation";
set_rotation_srv_[stream_index] = node_->create_service<SetInt32>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setRotationCallback(request, response, stream_index);
});
}
set_fan_work_mode_srv_ = node_->create_service<SetInt32>(
"set_fan_work_mode", [this](const std::shared_ptr<SetInt32::Request> request,
@@ -753,6 +767,84 @@ void OBCameraNode::setMirrorCallback(const std::shared_ptr<SetBool::Request>& re
}
}
void OBCameraNode::setFlipCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool::Response>& response,
const stream_index_pair& stream_index) {
(void)request;
auto stream = stream_index.first;
try {
switch (stream) {
case OB_STREAM_IR_RIGHT:
device_->setBoolProperty(OB_PROP_IR_RIGHT_FLIP_BOOL, request->data);
break;
case OB_STREAM_IR_LEFT:
device_->setBoolProperty(OB_PROP_IR_FLIP_BOOL, request->data);
break;
case OB_STREAM_IR:
device_->setBoolProperty(OB_PROP_IR_FLIP_BOOL, request->data);
break;
case OB_STREAM_DEPTH:
device_->setBoolProperty(OB_PROP_DEPTH_FLIP_BOOL, request->data);
break;
case OB_STREAM_COLOR:
device_->setBoolProperty(OB_PROP_COLOR_FLIP_BOOL, request->data);
break;
default:
RCLCPP_ERROR(logger_, " %s NOT a video stream", __FUNCTION__);
break;
}
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::setRotationCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response,
const stream_index_pair& stream_index) {
(void)request;
auto stream = stream_index.first;
try {
switch (stream) {
case OB_STREAM_IR_RIGHT:
device_->setIntProperty(OB_PROP_IR_RIGHT_ROTATE_INT, request->data);
break;
case OB_STREAM_IR_LEFT:
device_->setIntProperty(OB_PROP_IR_ROTATE_INT, request->data);
break;
case OB_STREAM_IR:
device_->setIntProperty(OB_PROP_IR_ROTATE_INT, request->data);
break;
case OB_STREAM_DEPTH:
device_->setIntProperty(OB_PROP_DEPTH_ROTATE_INT, request->data);
break;
case OB_STREAM_COLOR:
device_->setIntProperty(OB_PROP_COLOR_ROTATE_INT, request->data);
break;
default:
RCLCPP_ERROR(logger_, " %s NOT a video stream", __FUNCTION__);
break;
}
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;