add image save interface and raw control interface

2026-03-02 14:52:43 +08:00
5 changed files with 26 additions and 1 deletions
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -56,6 +56,9 @@ set(srv_files
  srv/MotorParam.srv
  srv/GripperCmd.srv
  srv/MotorInfo.srv
+  srv/SetCameraRawParams.srv
+  srv/SetCameraRawStatus.srv
+  srv/SaveCameraImages.srv
 )

 include_directories(include)
--- a/src/action/VisionObjectRecognition.action
+++ b/src/action/VisionObjectRecognition.action
@@ -1,4 +1,4 @@
-string camera_position
+string[] camera_positions
 string[] classes

 ---
--- a/src/srv/SaveCameraImages.srv
+++ b/src/srv/SaveCameraImages.srv
@@ -0,0 +1,8 @@
+string[] camera_positions
+string[] image_types
+
+string save_dir
+string save_type
+---
+bool[] success
+string[] info
--- a/src/srv/SetCameraRawParams.srv
+++ b/src/srv/SetCameraRawParams.srv
@@ -0,0 +1,7 @@
+string camera_position
+string raw
+int32 exposure
+int32 gain
+---
+bool success
+string info
--- a/src/srv/SetCameraRawStatus.srv
+++ b/src/srv/SetCameraRawStatus.srv
@@ -0,0 +1,7 @@
+string camera_position
+bool color_raw
+bool depth_raw
+bool ir_raw
+---
+bool success
+string info