i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 20:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: expose color WB control property

Browse Source
This commit is contained in:
slz
2026-09-03 16:39:02 +08:00
parent 27e0c7dc97
commit be88c2e496
2 changed files with 83 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+8
View File
@@ -433,6 +433,12 @@ class OBCameraNode {
void setWhiteBalanceCallback(const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response);
void getColorWbCtrlCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
void setColorWbCtrlCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response);
void getAutoWhiteBalanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
@@ -762,6 +768,8 @@ class OBCameraNode {
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_color_wb_ctrl_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_color_wb_ctrl_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_;
orbbec_camera/src/ros_service.cpp
+75
View File
@@ -293,6 +293,20 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetInt32::Response> response) {
setWhiteBalanceCallback(request, response);
});
if (isPropertyReadable(device_, OB_PROP_COLOR_WB_CTRL_INT)) {
get_color_wb_ctrl_srv_ = node_->create_service<GetInt32>(
"get_color_wb_ctrl", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getColorWbCtrlCallback(request, response);
});
}
if (isPropertyWritable(device_, OB_PROP_COLOR_WB_CTRL_INT)) {
set_color_wb_ctrl_srv_ = node_->create_service<SetInt32>(
"set_color_wb_ctrl", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setColorWbCtrlCallback(request, response);
});
}
get_auto_white_balance_srv_ = node_->create_service<GetInt32>(
"get_auto_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
@@ -1252,6 +1266,67 @@ void OBCameraNode::setWhiteBalanceCallback(const std::shared_ptr<SetInt32 ::Requ
}
}
void OBCameraNode::getColorWbCtrlCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response) {
(void)request;
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
try {
response->data = device_->getIntProperty(OB_PROP_COLOR_WB_CTRL_INT);
response->success = true;
response->message = "OK";
} catch (const ob::Error& e) {
response->success = false;
response->message = orbbec_camera::formatObErrorWithStatus(e);
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
void OBCameraNode::setColorWbCtrlCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response) {
if (!request) {
response->success = false;
response->message = "Invalid request";
return;
}
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
try {
const auto range = device_->getIntPropertyRange(OB_PROP_COLOR_WB_CTRL_INT);
if (request->data < range.min || request->data > range.max) {
response->success = false;
response->message = "value out of range [" + std::to_string(range.min) + ", " +
std::to_string(range.max) + "]";
return;
}
device_->setIntProperty(OB_PROP_COLOR_WB_CTRL_INT, request->data);
response->success = true;
response->message = "OK";
if (isPropertyReadable(device_, OB_PROP_COLOR_WB_CTRL_INT)) {
const auto current_value = device_->getIntProperty(OB_PROP_COLOR_WB_CTRL_INT);
response->success = current_value == request->data;
if (!response->success) {
response->message = "device reported " + std::to_string(current_value) + " after setting " +
std::to_string(request->data);
}
}
} catch (const ob::Error& e) {
response->success = false;
response->message = orbbec_camera::formatObErrorWithStatus(e);
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
void OBCameraNode::getAutoWhiteBalanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response) {
(void)request;