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feat: enhance image publishing logic to support saving images

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slz
2026-05-09 17:00:07 +08:00
parent b54974876a
commit 409e0b5207
1 changed files with 7 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+7 -4
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@@ -4068,6 +4068,9 @@ bool OBCameraNode::decodeColorFrameToBuffer(const std::shared_ptr<ob::Frame> &fr
if (stream_index == COLOR && enable_color_undistortion_ && color_undistortion_publisher_) { if (stream_index == COLOR && enable_color_undistortion_ && color_undistortion_publisher_) {
has_subscriber = true; has_subscriber = true;
} }
if (save_images_[stream_index]) {
has_subscriber = true;
}
if (frame->getType() == OB_FRAME_COLOR && enable_colored_point_cloud_ && if (frame->getType() == OB_FRAME_COLOR && enable_colored_point_cloud_ &&
depth_registration_cloud_pub_ && depth_registration_cloud_pub_ &&
@@ -4173,8 +4176,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
const bool has_compressed_image_subscriber = hasCompressedImageSubscriber(stream_index); const bool has_compressed_image_subscriber = hasCompressedImageSubscriber(stream_index);
const bool enable_undistortion_publish = const bool enable_undistortion_publish =
(stream_index == COLOR && enable_color_undistortion_ && color_undistortion_publisher_); (stream_index == COLOR && enable_color_undistortion_ && color_undistortion_publisher_);
bool has_subscriber = bool has_subscriber = has_raw_image_subscriber || has_compressed_image_subscriber ||
has_raw_image_subscriber || has_compressed_image_subscriber || enable_undistortion_publish; enable_undistortion_publish || save_images_[stream_index];
has_subscriber = has_subscriber =
has_subscriber || camera_info_publishers_[stream_index]->get_subscription_count() > 0; has_subscriber || camera_info_publishers_[stream_index]->get_subscription_count() > 0;
has_subscriber = has_subscriber =
@@ -4294,7 +4297,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
image.create(height, width, image_format_[stream_index]); image.create(height, width, image_format_[stream_index]);
} }
if (isColorFrameDecodeRequired(frame) && if (isColorFrameDecodeRequired(frame) &&
(has_raw_image_subscriber || enable_undistortion_publish)) { (has_raw_image_subscriber || enable_undistortion_publish || save_images_[stream_index])) {
if (frame->getType() == OB_FRAME_COLOR && !is_color_frame_decoded_) { if (frame->getType() == OB_FRAME_COLOR && !is_color_frame_decoded_) {
RCLCPP_ERROR(logger_, "color frame is not decoded"); RCLCPP_ERROR(logger_, "color frame is not decoded");
return; return;
@@ -4390,7 +4393,7 @@ void OBCameraNode::publishCompressedColorImage(const std::shared_ptr<ob::Frame>
sensor_msgs::msg::CompressedImage msg; sensor_msgs::msg::CompressedImage msg;
msg.header.stamp = timestamp; msg.header.stamp = timestamp;
msg.header.frame_id = frame_id; msg.header.frame_id = frame_id;
msg.format = "jpeg"; msg.format = encoding_[stream_index] + "; jpeg compressed " + encoding_[stream_index];
const auto *data = static_cast<const uint8_t *>(frame->getData()); const auto *data = static_cast<const uint8_t *>(frame->getData());
msg.data.assign(data, data + frame->getDataSize()); msg.data.assign(data, data + frame->getDataSize());
it->second->publish(std::move(msg)); it->second->publish(std::move(msg));