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[service] add set_decimation_filter_enable

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zhuangzi
2025-01-17 10:07:11 +08:00
parent 0091d3a1b9
commit dd1e833c33
2 changed files with 40 additions and 0 deletions
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orbbec_camera/src/ros_service.cpp
+34
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@@ -184,6 +184,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, response);
});
set_decimation_filter_enable_srv_ = node_->create_service<SetBool>(
"set_decimation_filter_enable", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setDecimationFilterEnableCallback(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -836,4 +841,33 @@ void OBCameraNode::setSYNCHostimeCallback(
response->success = false;
}
}
void OBCameraNode::setDecimationFilterEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
enable_decimation_filter_ = request->data;
if (enable_decimation_filter_) {
decimation_filter_scale_ = node_->get_parameter("decimation_filter_scale").as_int();
if (decimation_filter_scale_ == -1) {
RCLCPP_WARN(logger_, "Please configure the parameter 'decimation_filter_scale'");
return;
}
} else {
decimation_filter_scale_ = -1;
}
setupDepthPostProcessFilter();
node_->set_parameter(rclcpp::Parameter("enable_decimation_filter", enable_decimation_filter_));
node_->set_parameter(rclcpp::Parameter("decimation_filter_scale", decimation_filter_scale_));
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;
}
}
} // namespace orbbec_camera