4.2. 可用服务
服务名称直观地反映了其用途。需要注意的是，所有与设置/获取参数相关的服务（以 set_* 与 get_* 表示）只有在对应的 enable_* 参数被启用时才会生效。例如，启用左红外（IR）enable_left_ir、右红外 enable_right_ir、深度 enable_depth 或彩色 enable_color（参见 启动参数）是使用相应服务的前提条件。这样可以确保只有当启动文件的流参数开启时，才会提供对应流的服务。
4.2.1. 彩色流（Color Stream）
/camera/get_color_camera_info
rosservice call /camera/get_color_camera_info
/camera/get_color_exposure
rosservice call /camera/get_color_exposure
/camera/get_color_gain
rosservice call /camera/get_color_gain
/camera/set_color_auto_exposure
rosservice call /camera/set_color_auto_exposure 1
/camera/get_color_auto_exposure
rosservice call /camera/get_color_auto_exposure
/camera/set_color_exposure
rosservice call /camera/set_color_exposure 100
/camera/reset_color_exposure
rosservice call /camera/reset_color_exposure
/camera/set_color_gain
rosservice call /camera/set_color_gain 16
/camera/reset_color_gain
rosservice call /camera/reset_color_gain
/camera/set_color_ae_roi
# 在 data_param 中，四个值分别为：左、右、上、下
rosservice call /camera/set_color_ae_roi '{data_param:[0,1279,0,719]}'
/camera/set_color_mirror
rosservice call /camera/set_color_mirror 1
/camera/toggle_color
rosservice call /camera/toggle_color 1
4.2.2. 深度流（Depth Stream）
/camera/get_depth_camera_info
rosservice call /camera/get_depth_camera_info
/camera/get_depth_exposure
rosservice call /camera/get_depth_exposure
/camera/reset_depth_exposure
rosservice call /camera/reset_depth_exposure
/camera/get_depth_gain
rosservice call /camera/get_depth_gain
/camera/reset_depth_gain
rosservice call /camera/reset_depth_gain
/camera/set_depth_auto_exposure
rosservice call /camera/set_depth_auto_exposure 1
/camera/get_depth_auto_exposure
rosservice call /camera/get_depth_auto_exposure
/camera/set_depth_exposure
rosservice call /camera/set_depth_exposure 3000
/camera/set_depth_gain
# v2 版本暂不支持
rosservice call /camera/set_depth_gain 64
/camera/set_depth_ae_roi
# 在 data_param 中，四个值分别为：左、右、上、下
rosservice call /camera/set_depth_ae_roi '{data_param:[0,1279,0,719]}'
/camera/set_depth_mirror
rosservice call /camera/set_depth_mirror 1
/camera/toggle_depth
rosservice call /camera/toggle_depth 1
4.2.3. 红外流（IR Stream）
/camera/get_ir_camera_info
rosservice call /camera/get_ir_camera_info
/camera/get_ir_exposure
rosservice call /camera/get_ir_exposure
/camera/reset_ir_exposure
rosservice call /camera/reset_ir_exposure
/camera/get_ir_gain
rosservice call /camera/get_ir_gain
/camera/reset_ir_gain
rosservice call /camera/reset_ir_gain
/camera/set_ir_auto_exposure
rosservice call /camera/set_ir_auto_exposure 1
/camera/set_ir_exposure
rosservice call /camera/set_ir_exposure 3000
/camera/set_ir_gain
rosservice call /camera/set_ir_gain 64
/camera/set_ir_mirror
rosservice call /camera/set_ir_mirror 1
/camera/switch_ir
rosservice call /camera/switch_ir left
/camera/toggle_ir
rosservice call /camera/toggle_ir 1
4.2.4. 传感器与发射器控制（Sensor & Emitter Control）
/camera/get_auto_white_balance
rosservice call /camera/get_auto_white_balance
/camera/set_auto_white_balance
rosservice call /camera/set_auto_white_balance 1
/camera/get_white_balance
rosservice call /camera/get_white_balance
/camera/reset_white_balance
rosservice call /camera/reset_white_balance
/camera/set_laser
rosservice call /camera/set_laser 1
/camera/get_laser_status
rosservice call /camera/get_laser_status
/camera/set_ldp
rosservice call /camera/set_ldp 1
/camera/get_ldp_status
rosservice call /camera/get_ldp_status
/camera/get_lrm_measure_distance
rosservice call /camera/get_lrm_measure_distance
/camera/set_flood
rosservice call /camera/set_flood 1
/camera/set_fan_work_mode
rosservice call /camera/set_fan_work_mode 1
4.2.5. 设备信息与管理（Device Information & Management）
/camera/get_device_info
rosservice call /camera/get_device_info
/camera/get_device_type
rosservice call /camera/get_device_type
/camera/get_serial
rosservice call /camera/get_serial
/camera/get_sdk_version
rosservice call /camera/get_sdk_version
/camera/get_camera_params
rosservice call /camera/get_camera_params
/camera/reboot_device
rosservice call /camera/reboot_device
4.2.6. 同步（Synchronization）
/camera/get_ptp_config
rosservice call /camera/get_ptp_config
/camera/set_ptp_config
rosservice call /camera/set_ptp_config true
4.2.7. 视差配置
/camera/set_disparity_range_mode
rosservice call /camera/set_disparity_range_mode 1
/camera/set_disparity_search_offset
rosservice call /camera/set_disparity_search_offset 0
4.2.8. AE 配置
/camera/set_ae_reference_stream
rosservice call /camera/set_ae_reference_stream color
/camera/set_ae_strategy
rosservice call /camera/set_ae_strategy motion
4.2.9. 深度滤波器配置（Depth Filter Configuration）
/camera/set_filter
# filter_name 为滤波器名称，filter_enable 表示是否开启滤波器开关，filter_param 表示滤波参数
# 设置 DecimationFilter: [scale]
rosservice call /camera/set_filter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
# 设置 SpatialAdvancedFilter: [alpha, disp_diff, magnitude, radius]
rosservice call /camera/set_filter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'
# 设置 SequenceIdFilter: [sequence_id]
rosservice call /camera/set_filter '{filter_name: SequenceIdFilter, filter_enable: true, filter_param: [1]}'
# 设置 ThresholdFilter: [min, max]
rosservice call /camera/set_filter '{filter_name: ThresholdFilter, filter_enable: true, filter_param: [0,15999]}'
# 设置 NoiseRemovalFilter: [min_diff, max_size]
rosservice call /camera/set_filter '{filter_name: NoiseRemovalFilter, filter_enable: true, filter_param: [256,80]}'
# 设置 HardwareNoiseRemoval: [threshold]
rosservice call /camera/set_filter '{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: [0.2]}'
# 设置 SpatialFastFilter：[radius]
rosservice call /camera/set_filter '{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}'
# 设置 SpatialModerateFilter: [disp_diff, magnitude, radius]
rosservice call /camera/set_filter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'
4.2.10. 数据采集与标定管理（Data Capture & Calibration Management）
/camera/get_color_camera_info
rosservice call /camera/get_color_camera_info
/camera/get_depth_camera_info
rosservice call /camera/get_depth_camera_info
/camera/get_ir_camera_info
rosservice call /camera/get_ir_camera_info
/camera/save_images
rosservice call /camera/save_images
/camera/save_point_cloud
rosservice call /camera/save_point_cloud