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[service] add set_decimation_filter_enable

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This commit is contained in:
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/include/orbbec_camera/ob_camera_node.h
+6
View File
@@ -295,6 +295,11 @@ class OBCameraNode {
std::shared_ptr<SetInt32 ::Response>& response); std::shared_ptr<SetInt32 ::Response>& response);
void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response); std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setDecimationFilterEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg); bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request, void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
@@ -448,6 +453,7 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_; rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_decimation_filter_enable_srv_;
bool enable_sync_output_accel_gyro_ = false; bool enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false; bool publish_tf_ = false;
orbbec_camera/src/ros_service.cpp
+34
View File
@@ -184,6 +184,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) { std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, 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, void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -836,4 +841,33 @@ void OBCameraNode::setSYNCHostimeCallback(
response->success = false; 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 } // namespace orbbec_camera