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feat: add exportBagPresetJson method for exporting bag settings as JSON

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slz
2026-06-20 10:09:33 +08:00
parent 4066263185
commit 57a76b4f5e
2 changed files with 34 additions and 0 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+32
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@@ -854,6 +854,7 @@ void OBCameraNodeDriver::setBagRecordingCallback(
}
try {
exportBagPresetJson(file_path);
record_device_ =
std::make_shared<ob::RecordDevice>(device_, file_path, bag_record_compression_);
} catch (const ob::Error &e) {
@@ -1070,6 +1071,36 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
return nullptr;
}
void OBCameraNodeDriver::exportBagPresetJson(const std::string &bag_path) {
if (!device_ || bag_path.empty() || playback_device_) {
return;
}
auto json_path = std::filesystem::path(bag_path);
if (json_path.extension() == ".bag") {
json_path.replace_extension(".json");
} else {
json_path += ".json";
}
const auto json_path_str = json_path.string();
try {
const auto parent_path = json_path.parent_path();
if (!parent_path.empty()) {
std::filesystem::create_directories(parent_path);
}
device_->exportSettingsAsPresetJsonFile(json_path_str.c_str());
RCLCPP_INFO_STREAM(logger_, "Exported bag preset JSON: " << json_path_str);
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to export bag preset JSON "
<< json_path_str << ": "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_,
"Failed to export bag preset JSON " << json_path_str << ": " << e.what());
}
}
void OBCameraNodeDriver::initializeBagPlayback() {
RCLCPP_INFO_STREAM(logger_, "Starting bag file playback: " << bag_filename_);
try {
@@ -1309,6 +1340,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
if (!bag_record_filename_.empty() && !record_device_) {
try {
exportBagPresetJson(bag_record_filename_);
record_device_ = std::make_shared<ob::RecordDevice>(device_, bag_record_filename_,
bag_record_compression_);
RCLCPP_INFO_STREAM(logger_, "Recording to bag file: " << bag_record_filename_);