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Add setIRLongExposureCallback to OBCameraNode

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This commit is contained in:
Joe Dong
2024-03-12 16:15:21 +08:00
parent f0a6b03fa8
commit f3f5cb8df9
2 changed files with 26 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4
View File
@@ -262,6 +262,9 @@ class OBCameraNode {
void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request, void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response); std::shared_ptr<SetString::Response>& response);
void setIRLongExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void publishPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set); void publishPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
void publishDepthPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set); void publishDepthPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
@@ -360,6 +363,7 @@ class OBCameraNode {
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_; rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_; rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_; rclcpp::Service<SetString>::SharedPtr switch_ir_camera_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> std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_; set_auto_exposure_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_; rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
orbbec_camera/src/ros_service.cpp
+22
View File
@@ -159,6 +159,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetString::Response> response) { std::shared_ptr<SetString::Response> response) {
switchIRCameraCallback(request, response); switchIRCameraCallback(request, response);
}); });
set_ir_long_exposure_srv_ = node_->create_service<SetBool>(
"set_ir_long_exposure", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setIRLongExposureCallback(request, response);
});
} }
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request, void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -686,4 +691,21 @@ void OBCameraNode::switchIRCameraCallback(const std::shared_ptr<SetString::Reque
response->success = false; response->success = false;
} }
} }
void OBCameraNode::setIRLongExposureCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
device_->setBoolProperty(OB_PROP_IR_LONG_EXPOSURE_BOOL, request->data);
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