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feat: add synchronization for application point cloud and HDR merge configurations for export

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This commit is contained in:
ob-yalian
2026-06-20 14:31:21 +08:00
parent 844cb92adc
commit 6794411613
2 changed files with 86 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+82
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@@ -1695,6 +1695,8 @@ bool OBCameraNode::exportConfigJsonToFile(const std::string &file_path, std::str
}
const auto resolved_file_path_str = resolved_file_path.string();
syncApplicationPointCloudConfigForExport();
syncApplicationHdrMergeConfigForExport();
device_->exportSettingsAsPresetJsonFile(resolved_file_path_str.c_str());
if (!std::filesystem::exists(resolved_file_path)) {
message = "Failed to export config json file: file not found after export path=" +
@@ -1729,6 +1731,86 @@ void OBCameraNode::exportConfigJsonIfRequested() {
bool OBCameraNode::isConfigJsonLoaded() const { return config_json_loaded_; }
void OBCameraNode::syncApplicationPointCloudConfigForExport() {
if (!device_) {
return;
}
try {
if (!ob::ApplicationConfig::isSupported(device_)) {
RCLCPP_DEBUG_STREAM(logger_,
"Skip exporting application_config point_cloud: unsupported device");
return;
}
auto application_config = ob::ApplicationConfig::get(device_);
CHECK_NOTNULL(application_config.get());
auto point_cloud_config = std::make_shared<ob::ApplicationPointCloudConfig>();
point_cloud_config->enable(enable_point_cloud_ || enable_colored_point_cloud_);
point_cloud_config->setFormat(enable_colored_point_cloud_ ? OB_FORMAT_RGB_POINT
: OB_FORMAT_POINT);
point_cloud_config->setDecimationFactor(std::max(1, point_cloud_decimation_filter_factor_));
auto align_mode = ALIGN_DISABLE;
if (depth_registration_) {
if (align_mode_ == "HW") {
align_mode = ALIGN_D2C_HW_MODE;
} else if (align_target_stream_ == OB_STREAM_DEPTH) {
align_mode = ALIGN_C2D_SW_MODE;
} else {
align_mode = ALIGN_D2C_SW_MODE;
}
}
point_cloud_config->setAlignMode(align_mode);
point_cloud_config->enableFrameSync(enable_frame_sync_);
point_cloud_config->setAllFrameTypeRequired(frame_aggregate_mode_ == "full_frame");
point_cloud_config->enableMatchTargetResolution(
align_mode == ALIGN_D2C_HW_MODE ? enable_depth_scale_ : true);
application_config->setPointCloud(point_cloud_config);
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Export application_config point_cloud sync failed error=\""
<< orbbec_camera::formatObErrorWithStatus(e) << "\"");
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(
logger_, "Export application_config point_cloud sync failed error=\"" << e.what() << "\"");
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Export application_config point_cloud sync failed");
}
}
void OBCameraNode::syncApplicationHdrMergeConfigForExport() {
if (!device_) {
return;
}
try {
if (!ob::ApplicationConfig::isSupported(device_)) {
RCLCPP_DEBUG_STREAM(logger_,
"Skip exporting application_config hdr_merge: unsupported device");
return;
}
auto application_config = ob::ApplicationConfig::get(device_);
CHECK_NOTNULL(application_config.get());
auto hdr_merge_config = std::make_shared<ob::ApplicationHDRMergeConfig>();
hdr_merge_config->enable(enable_hdr_merge_);
hdr_merge_config->enableIR(true);
application_config->setHDRMerge(hdr_merge_config);
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Export application_config hdr_merge sync failed error=\""
<< orbbec_camera::formatObErrorWithStatus(e) << "\"");
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(
logger_, "Export application_config hdr_merge sync failed error=\"" << e.what() << "\"");
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Export application_config hdr_merge sync failed");
}
}
void OBCameraNode::loadConfigJson() {
if (load_config_json_file_path_.empty()) {
return;