feat: split image timestamp CSV files when frame sync is disabled

orbbec_camera/include/orbbec_camera/frame_timestamp_csv_logger.h

@@ -21,8 +21,10 @@ namespace orbbec_camera {
 
 class FrameTimestampCsvLogger {
  public:
+  enum class OutputMode { SYNCED, COLOR, DEPTH };
+
   FrameTimestampCsvLogger(bool drop_log_enabled, const std::string &csv_file_path,
-                          rclcpp::Logger logger);
+                          OutputMode output_mode, rclcpp::Logger logger);
 
   ~FrameTimestampCsvLogger() noexcept;
 
@@ -137,7 +139,7 @@ class FrameTimestampCsvLogger {
   std::string serializeStreamColumns(const StreamState &state) const;
   static std::string formatSecondsColumn(int64_t time_us);
   static std::string formatOptionalIntColumn(const std::optional<int64_t> &value);
-  static std::string csvHeader();
+  std::string csvHeader() const;
 
   void writerThreadMain();
   std::string csvFilePathForIndex(uint64_t file_index) const;
@@ -152,6 +154,7 @@ class FrameTimestampCsvLogger {
   std::atomic_bool csv_writer_failed_{false};
   bool queue_warning_active_ = false;
   std::string csv_file_path_;
+  OutputMode output_mode_;
   std::ofstream csv_stream_;
   std::thread writer_thread_;
   uint64_t csv_file_index_ = 0;

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -1024,6 +1024,8 @@ class OBCameraNode {
   bool enable_frame_drop_log_ = false;
   std::string frame_timestamp_csv_file_;
   std::unique_ptr<FrameTimestampCsvLogger> frame_timestamp_csv_logger_;
+  std::unique_ptr<FrameTimestampCsvLogger> color_timestamp_csv_logger_;
+  std::unique_ptr<FrameTimestampCsvLogger> depth_timestamp_csv_logger_;
   std::unique_ptr<ImuTimestampCsvLogger> imu_timestamp_csv_logger_;
   std::unique_ptr<ImuTimestampCsvLogger> accel_timestamp_csv_logger_;
   std::unique_ptr<ImuTimestampCsvLogger> gyro_timestamp_csv_logger_;