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feat: implement thread-safe image saving with mutex and update save logic

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This commit is contained in:
ob-yalian
2026-08-20 17:12:20 +08:00
parent 54d29f15d8
commit ada0122f98
3 changed files with 22 additions and 8 deletions
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orbbec_camera/src/ob_camera_node.cpp
+19 -7
View File
@@ -6995,18 +6995,34 @@ void OBCameraNode::saveImageToFile(const stream_index_pair &stream_index, const
const cv::Mat &image_to_save,
const sensor_msgs::msg::Image &image_msg,
const std::shared_ptr<ob::Frame> &frame) {
if (save_images_[stream_index]) {
if (save_images_[stream_index].load(std::memory_order_acquire)) {
int index = 0;
{
std::lock_guard<std::mutex> lock(save_images_mutex_);
if (!save_images_[stream_index].load(std::memory_order_relaxed)) {
return;
}
index = save_images_count_[stream_index]++;
if (save_images_count_[stream_index] >= max_save_images_count_) {
save_images_[stream_index].store(false, std::memory_order_release);
}
}
auto now = std::chrono::system_clock::now();
auto in_time_t = std::chrono::system_clock::to_time_t(now);
auto us =
std::chrono::duration_cast<std::chrono::microseconds>(now.time_since_epoch()) % 1000000;
std::tm local_time{};
if (localtime_r(&in_time_t, &local_time) == nullptr) {
RCLCPP_ERROR_STREAM(logger_, "Failed to convert image save timestamp to local time");
return;
}
std::stringstream ss;
ss << std::put_time(std::localtime(&in_time_t), "%Y%m%d_%H%M%S");
ss << std::put_time(&local_time, "%Y%m%d_%H%M%S");
ss << "_" << std::setw(6) << std::setfill('0') << us.count();
const auto output_directory = std::filesystem::current_path() / "image";
auto fps = fps_[stream_index];
const int index = save_images_count_[stream_index];
const std::string file_name = stream_name_[stream_index] + "_" +
std::to_string(image_msg.width) + "x" +
std::to_string(image_msg.height) + "_" + std::to_string(fps) +
@@ -7091,10 +7107,6 @@ void OBCameraNode::saveImageToFile(const stream_index_pair &stream_index, const
}
metadata_ofs.close();
}
if (++save_images_count_[stream_index] >= max_save_images_count_) {
save_images_[stream_index] = false;
}
}
}
orbbec_camera/src/ros_service.cpp
+2 -1
View File
@@ -1961,10 +1961,11 @@ void OBCameraNode::saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty:
std::shared_ptr<std_srvs::srv::Empty::Response>& response) {
(void)request;
(void)response;
std::lock_guard<std::mutex> lock(save_images_mutex_);
for (const auto& stream_index : IMAGE_STREAMS) {
if (enable_stream_[stream_index]) {
save_images_[stream_index] = true;
save_images_count_[stream_index] = 0;
save_images_[stream_index].store(true, std::memory_order_release);
}
}
}