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add switch IR camera

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This commit is contained in:
Joe Dong
2023-02-27 14:02:23 +08:00
parent dc23e8cd43
commit f8df9422d6
4 changed files with 39 additions and 1 deletions
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orbbec_camera/src/ros_service.cpp
+28
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@@ -150,6 +150,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<std_srvs::srv::Empty::Response> response) {
savePointCloudCallback(request, response);
});
switch_ir_camera_srv_ = node_->create_service<SetString>(
"switch_ir", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) {
switchIRCameraCallback(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -639,4 +644,27 @@ void OBCameraNode::savePointCloudCallback(
}
}
void OBCameraNode::switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response) {
if (request->data != "left" && request->data != "right") {
response->success = false;
response->message = "invalid ir camera name";
return;
}
try {
int data = request->data == "left" ? 0 : 1;
device_->setIntProperty(OB_PROP_IR_CHANNEL_DATA_SOURCE_INT, data);
response->success = true;
return;
} 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