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Add save camera parameter services

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This commit is contained in:
xiexun
2025-09-02 17:07:39 +08:00
parent 27017aa5ed
commit d0c079d5a4
9 changed files with 228 additions and 60 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+25 -6
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@@ -58,6 +58,8 @@
#include "orbbec_camera_msgs/srv/set_string.hpp"
#include "orbbec_camera_msgs/srv/set_filter.hpp"
#include "orbbec_camera_msgs/srv/set_arrays.hpp"
#include "orbbec_camera_msgs/srv/get_camera_params.hpp"
#include "orbbec_camera_msgs/srv/set_camera_params.hpp"
#include "orbbec_camera/constants.h"
#include "orbbec_camera/dynamic_params.h"
#include "orbbec_camera/d2c_viewer.h"
@@ -113,6 +115,8 @@ using SetBool = std_srvs::srv::SetBool;
using GetBool = orbbec_camera_msgs::srv::GetBool;
using SetFilter = orbbec_camera_msgs::srv::SetFilter;
using SetArrays = orbbec_camera_msgs::srv::SetArrays;
using SetCameraParams = orbbec_camera_msgs::srv::SetCameraParams;
using GetCameraParams = orbbec_camera_msgs::srv::GetCameraParams;
typedef std::pair<ob_stream_type, int> stream_index_pair;
@@ -369,11 +373,21 @@ class OBCameraNode {
void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void setWriteCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
bool writeCustomerData(const std::string &data);
void setReadCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
bool readCustomerData(std::string &out_data);
void writeCustomerDataCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void readCustomerDataCallback(const std::shared_ptr<GetString::Request>& request,
std::shared_ptr<GetString::Response>& response);
void getCameraParamsCallback(const std::shared_ptr<GetCameraParams::Request>& request,
std::shared_ptr<GetCameraParams::Response>& response);
void setCameraParamsCallback(const std::shared_ptr<SetCameraParams::Request>& request,
std::shared_ptr<SetCameraParams::Response>& response);
void setIRLongExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
@@ -449,7 +463,10 @@ class OBCameraNode {
void setDisparitySearchOffset();
bool isWriteCustomerDataSuccess() const;
private:
std::atomic_bool write_customer_data_success_{false};
rclcpp::Node* node_ = nullptr;
std::shared_ptr<ob::Device> device_ = nullptr;
std::shared_ptr<Parameters> parameters_ = nullptr;
@@ -520,8 +537,8 @@ class OBCameraNode {
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
rclcpp::Service<SetString>::SharedPtr set_write_customerdata_srv_;
rclcpp::Service<SetString>::SharedPtr set_read_customerdata_srv_;
rclcpp::Service<SetString>::SharedPtr write_customerdata_srv_;
rclcpp::Service<GetString>::SharedPtr read_customerdata_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ir_long_exposure_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_;
@@ -543,6 +560,8 @@ class OBCameraNode {
rclcpp::Service<SetFilter>::SharedPtr set_filter_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<GetCameraParams>::SharedPtr get_camera_params_srv_;
rclcpp::Service<SetCameraParams>::SharedPtr set_camera_params_srv_;
bool enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false;
orbbec_camera/include/orbbec_camera/utils.h
+7
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@@ -27,6 +27,11 @@
#include "magic_enum/magic_enum.hpp"
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <opencv2/opencv.hpp>
#include <openssl/evp.h>
#include <sstream>
#include <iomanip>
#include <arpa/inet.h>
namespace orbbec_camera {
inline void LogFatal(const char* file, int line, const std::string& message) {
@@ -194,4 +199,6 @@ cv::Mat undistortImage(const cv::Mat& image, const OBCameraIntrinsic& intrinsic,
const OBCameraDistortion& distortion);
std::string getDistortionModels(OBCameraDistortion distortion);
std::string calcMD5(const std::string &data);
} // namespace orbbec_camera