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load bag preset JSON during playback

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This commit is contained in:
ob-yalian
2026-07-13 10:43:32 +08:00
parent b4743022e7
commit b8b4f8dbeb
1 changed files with 15 additions and 3 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+15 -3
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@@ -1108,10 +1108,22 @@ void OBCameraNodeDriver::exportBagPresetJson(const std::string &bag_path) {
void OBCameraNodeDriver::initializeBagPlayback() {
RCLCPP_INFO_STREAM(logger_, "Starting bag file playback: " << bag_filename_);
try {
playback_device_ = std::make_shared<ob::PlaybackDevice>(bag_filename_);
auto preset_path = std::filesystem::path(bag_filename_);
if (preset_path.extension() == ".bag") {
preset_path.replace_extension(".json");
} else {
preset_path += ".json";
}
std::string preset_path_str;
if (std::filesystem::is_regular_file(preset_path)) {
preset_path_str = preset_path.string();
RCLCPP_INFO_STREAM(logger_, "Loading bag preset JSON: " << preset_path_str);
}
playback_device_ = std::make_shared<ob::PlaybackDevice>(bag_filename_, preset_path_str);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to open bag file: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize bag playback: "
<< orbbec_camera::formatObErrorWithStatus(e));
return;
}