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Update user calibration service interface and device status reporting

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This commit is contained in:
xiexun
2025-09-02 17:08:21 +08:00
parent 211edd146b
commit d87f93d440
7 changed files with 168 additions and 170 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+25 -10
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@@ -58,8 +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_msgs/srv/get_user_calib_params.hpp"
#include "orbbec_camera_msgs/srv/set_user_calib_params.hpp"
#include "orbbec_camera/constants.h"
#include "orbbec_camera/dynamic_params.h"
#include "orbbec_camera/d2c_viewer.h"
@@ -115,8 +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;
using SetUserCalibParams = orbbec_camera_msgs::srv::SetUserCalibParams;
using GetUserCalibParams = orbbec_camera_msgs::srv::GetUserCalibParams;
typedef std::pair<ob_stream_type, int> stream_index_pair;
@@ -202,6 +202,20 @@ class OBCameraNode {
}
}
bool checkUserCalibrationReady() {
static bool first_check = true;
if (first_check) {
first_check = false;
std::string data_read;
if (readCustomerData(data_read)) {
user_calibration_ready_ = true;
} else {
user_calibration_ready_ = false;
}
}
return user_calibration_ready_;
}
private:
struct IMUData {
IMUData() = default;
@@ -385,11 +399,11 @@ class OBCameraNode {
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 getUserCalibParamsCallback(const std::shared_ptr<GetUserCalibParams::Request>& request,
std::shared_ptr<GetUserCalibParams::Response>& response);
void setCameraParamsCallback(const std::shared_ptr<SetCameraParams::Request>& request,
std::shared_ptr<SetCameraParams::Response>& response);
void setUserCalibParamsCallback(const std::shared_ptr<SetUserCalibParams::Request>& request,
std::shared_ptr<SetUserCalibParams::Response>& response);
void setIRLongExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
@@ -469,6 +483,7 @@ class OBCameraNode {
private:
std::atomic_bool write_customer_data_success_{false};
std::atomic_bool user_calibration_ready_{false};
rclcpp::Node* node_ = nullptr;
std::shared_ptr<ob::Device> device_ = nullptr;
std::shared_ptr<Parameters> parameters_ = nullptr;
@@ -562,8 +577,8 @@ 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_;
rclcpp::Service<GetUserCalibParams>::SharedPtr get_user_calib_params_srv_;
rclcpp::Service<SetUserCalibParams>::SharedPtr set_user_calib_params_srv_;
bool enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false;