i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Write the tool node parameters into a json file

Browse Source
This commit is contained in:
jj
2024-11-06 20:04:23 +08:00
parent 10dc88861e
commit cc8dcd8a82
7 changed files with 189 additions and 101 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/tools/metadata_export_files.hpp
+16 -14
View File
@@ -68,7 +68,7 @@ class MetadataExportFiles : public rclcpp::Node {
void load_parameters() {
std::ifstream file(
"install/orbbec_camera/share/orbbec_camera/config/metadataexport/"
"install/orbbec_camera/share/orbbec_camera/config/tools/metadataexport/"
"metadata_export_params.json");
if (!file.is_open()) {
RCLCPP_ERROR(this->get_logger(), "Failed to open JSON file.");
@@ -78,23 +78,25 @@ class MetadataExportFiles : public rclcpp::Node {
nlohmann::json json_data;
file >> json_data;
sn_ = json_data["camera_params"]["sn"].get<std::string>();
sn_ = json_data["metadata_export_params"]["sn"].get<std::string>();
left_ir_image_topic_ = json_data["camera_params"]["left_ir_image_topic"].get<std::string>();
right_ir_image_topic_ = json_data["camera_params"]["right_ir_image_topic"].get<std::string>();
depth_image_topic_ = json_data["camera_params"]["depth_image_topic"].get<std::string>();
color_image_topic_ = json_data["camera_params"]["color_image_topic"].get<std::string>();
left_ir_image_topic_ =
json_data["metadata_export_params"]["left_ir_image_topic"].get<std::string>();
right_ir_image_topic_ =
json_data["metadata_export_params"]["right_ir_image_topic"].get<std::string>();
depth_image_topic_ =
json_data["metadata_export_params"]["depth_image_topic"].get<std::string>();
color_image_topic_ =
json_data["metadata_export_params"]["color_image_topic"].get<std::string>();
left_ir_metadata_topic_ =
json_data["camera_params"]["left_ir_metadata_topic"].get<std::string>();
json_data["metadata_export_params"]["left_ir_metadata_topic"].get<std::string>();
right_ir_metadata_topic_ =
json_data["camera_params"]["right_ir_metadata_topic"].get<std::string>();
depth_metadata_topic_ = json_data["camera_params"]["depth_metadata_topic"].get<std::string>();
color_metadata_topic_ = json_data["camera_params"]["color_metadata_topic"].get<std::string>();
RCLCPP_INFO(this->get_logger(), "Parameter 1: %s", sn_.c_str());
RCLCPP_INFO(this->get_logger(), "Parameter 2: %s", depth_image_topic_.c_str());
RCLCPP_INFO(this->get_logger(), "Parameter 3: %s", color_image_topic_.c_str());
json_data["metadata_export_params"]["right_ir_metadata_topic"].get<std::string>();
depth_metadata_topic_ =
json_data["metadata_export_params"]["depth_metadata_topic"].get<std::string>();
color_metadata_topic_ =
json_data["metadata_export_params"]["color_metadata_topic"].get<std::string>();
}
void initialize_pub_sub() {
auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data));