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feat: update image saving functionality and metadata handling in camera node

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ob-yalian
2026-08-19 11:15:08 +08:00
parent afc64cbc70
commit 7e3adade65
4 changed files with 94 additions and 59 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+5 -2
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@@ -592,14 +592,17 @@ class OBCameraNode {
void publishMetadata(const std::shared_ptr<ob::Frame>& frame,
const stream_index_pair& stream_index, const std_msgs::msg::Header& header);
std::string createFrameMetadataJson(const std::shared_ptr<ob::Frame>& frame) const;
void onNewColorFrameCallback();
void onNewLeftColorFrameCallback();
void onNewRightColorFrameCallback();
void saveImageToFile(const stream_index_pair& stream_index, const cv::Mat& image,
const sensor_msgs::msg::Image& image_msg);
void saveImageToFile(const stream_index_pair& stream_index, const cv::Mat& raw_image,
const cv::Mat& image_to_save, const sensor_msgs::msg::Image& image_msg,
const std::shared_ptr<ob::Frame>& frame);
void onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Frame>& accelframe,
const std::shared_ptr<ob::Frame>& gryoframe);