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fixed set ir mirror

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This commit is contained in:
Joe Dong
2023-09-13 19:27:20 +08:00
parent 105562b4c8
commit c824bfab5e
1 changed files with 17 additions and 17 deletions
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orbbec_camera/src/ros_service.cpp
+17 -17
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@@ -1,18 +1,18 @@
/******************************************************************************* /*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc * Copyright (c) 2023 Orbbec 3D Technology, Inc
* *
* Licensed under the Apache License, Version 2.0 (the "License"); * Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License. * you may not use this file except in compliance with the License.
* You may obtain a copy of the License at * You may obtain a copy of the License at
* *
* http://www.apache.org/licenses/LICENSE-2.0 * http://www.apache.org/licenses/LICENSE-2.0
* *
* Unless required by applicable law or agreed to in writing, software * Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, * distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and * See the License for the specific language governing permissions and
* limitations under the License. * limitations under the License.
*******************************************************************************/ *******************************************************************************/
#include "orbbec_camera/ob_camera_node.h" #include "orbbec_camera/ob_camera_node.h"
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
@@ -156,7 +156,7 @@ void OBCameraNode::setupCameraCtrlServices() {
}); });
switch_ir_camera_srv_ = node_->create_service<SetString>( switch_ir_camera_srv_ = node_->create_service<SetString>(
"switch_ir", [this](const std::shared_ptr<SetString::Request> request, "switch_ir", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) { std::shared_ptr<SetString::Response> response) {
switchIRCameraCallback(request, response); switchIRCameraCallback(request, response);
}); });
} }
@@ -462,7 +462,6 @@ void OBCameraNode::getExposureCallback(const std::shared_ptr<GetInt32::Request>&
auto stream = stream_index.first; auto stream = stream_index.first;
try { try {
switch (stream) { switch (stream) {
case OB_STREAM_IR_LEFT:
case OB_STREAM_IR_RIGHT: case OB_STREAM_IR_RIGHT:
case OB_STREAM_IR: case OB_STREAM_IR:
response->data = device_->getIntProperty(OB_PROP_IR_EXPOSURE_INT); response->data = device_->getIntProperty(OB_PROP_IR_EXPOSURE_INT);
@@ -545,8 +544,9 @@ void OBCameraNode::setMirrorCallback(const std::shared_ptr<SetBool::Request>& re
auto stream = stream_index.first; auto stream = stream_index.first;
try { try {
switch (stream) { switch (stream) {
case OB_STREAM_IR_LEFT:
case OB_STREAM_IR_RIGHT: case OB_STREAM_IR_RIGHT:
device_->setBoolProperty(OB_PROP_IR_RIGHT_MIRROR_BOOL, request->data);
case OB_STREAM_IR_LEFT:
case OB_STREAM_IR: case OB_STREAM_IR:
device_->setBoolProperty(OB_PROP_IR_MIRROR_BOOL, request->data); device_->setBoolProperty(OB_PROP_IR_MIRROR_BOOL, request->data);
break; break;