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add save point cloud and image

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This commit is contained in:
Joe Dong
2023-02-20 14:46:02 +08:00
parent ce8fb14f3a
commit 3fb6036b5e
3 changed files with 112 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+16
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@@ -30,6 +30,8 @@
#include <tf2_ros/transform_broadcaster.h>
#include <tf2/LinearMath/Quaternion.h>
#include <std_srvs/srv/set_bool.hpp>
#include <std_srvs/srv/empty.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <camera_info_manager/camera_info_manager.hpp>
@@ -216,6 +218,12 @@ class OBCameraNode {
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,
std::shared_ptr<std_srvs::srv::Empty::Response>& response);
void savePointCloudCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
std::shared_ptr<std_srvs::srv::Empty::Response>& response);
void publishPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
void publishDepthPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
@@ -227,6 +235,9 @@ class OBCameraNode {
void onNewFrameCallback(const std::shared_ptr<ob::Frame>& frame,
const stream_index_pair& stream_index);
void saveImageToFile(const stream_index_pair& stream_index, const cv::Mat& image,
const sensor_msgs::msg::Image::SharedPtr& image_msg);
bool setupFormatConvertType(OBFormat format);
private:
@@ -318,5 +329,10 @@ class OBCameraNode {
std::optional<OBCameraParam> camera_param_;
bool enable_d2c_viewer_ = false;
std::unique_ptr<D2CViewer> d2c_viewer_ = nullptr;
std::map<stream_index_pair, std::atomic_bool> save_images_;
std::atomic_bool save_point_cloud_{false};
std::atomic_bool save_colored_point_cloud_{false};
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr save_images_srv_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr save_point_cloud_srv_;
};
} // namespace orbbec_camera